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In this paper, we present an improved motion estimation method by adding extra information for binocular visual odometry (VO) which is especially suited for improving high-speed pose change estimation. The extra information is obtained by structured object detecting, taking lane line detection as an example. We can get an accurate position information by calculating the interval of each dotted lane...
Integrated navigation system usually uses Kalman filter to make it possible for error compensation. In order to improve the precision of navigation and the stability of data, we introduce the R-T-S (Rauch-Tung-Striebel) optimal fixed-interval smoothing into the post-processing of data. On the basis of the forward Kalman filter, we add the backward information filter to the system and use the measured...
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