Robust Positioning from Visual-Inertial and GPS Measurements

Urs Niesen, Venkatesan N. Ekambaram, Jubin Jose, Lionel Garin, Xinzhou Wu

Abstract:	GPS positioning in urban scenarios is challenging because of large numbers of non-line-of-sight outlier measurements. In this paper we propose a robust positioning algorithm that combines GPS observations with visual-inertial odometry information to handle such outliers. We demonstrate the effectiveness of our algorithm in a simulation scenario with close to 80% outliers. In experiments in a mild urban-canyon environment, our approach reduces the 95th percentile horizontal positioning error by 66% compared to a GPS-only solution.
Published in:	Proceedings of the 29th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2016) September 12 - 16, 2016 Oregon Convention Center Portland, Oregon
Pages:	788 - 793
Cite this article:	Niesen, Urs, Ekambaram, Venkatesan N., Jose, Jubin, Garin, Lionel, Wu, Xinzhou, "Robust Positioning from Visual-Inertial and GPS Measurements," Proceedings of the 29th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 788-793. https://doi.org/10.33012/2016.14614
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