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Research ArticleOriginal Article
Open Access

Measurement Error Detection for Stereo Visual Odometry Integrity

Yuanwen Fu, Shizhuang Wang, Yawei Zhai, Xingqun Zhan, and Xin Zhang
NAVIGATION: Journal of the Institute of Navigation December 2022, 69 (4) navi.542; DOI: https://doi.org/10.33012/navi.542
Yuanwen Fu
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
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Shizhuang Wang
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
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Yawei Zhai
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
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Xingqun Zhan,
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
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Xin Zhang
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
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  • For correspondence: [email protected]
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NAVIGATION: Journal of the Institute of Navigation: 69 (4)
NAVIGATION: Journal of the Institute of Navigation
Vol. 69, Issue 4
Winter 2022
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Measurement Error Detection for Stereo Visual Odometry Integrity
Yuanwen Fu, Shizhuang Wang, Yawei Zhai, Xingqun Zhan,, Xin Zhang
NAVIGATION: Journal of the Institute of Navigation Dec 2022, 69 (4) navi.542; DOI: 10.33012/navi.542

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Measurement Error Detection for Stereo Visual Odometry Integrity
Yuanwen Fu, Shizhuang Wang, Yawei Zhai, Xingqun Zhan,, Xin Zhang
NAVIGATION: Journal of the Institute of Navigation Dec 2022, 69 (4) navi.542; DOI: 10.33012/navi.542
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  • Article
    • Abstract
    • 1 INTRODUCTION
    • 2 PROBLEM FORMULATION
    • 3 THE PROPOSED METHOD
    • 4 EXPERIMENTAL VALIDATION
    • 5 CONCLUSION
    • HOW TO CITE THIS ARTICLE
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Keywords

  • integrity
  • landmark matching error
  • measurement error
  • outlier rejection
  • overbounding
  • visual odometry

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