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This paper presents a novel technique on attitude estimation based on fusion of orientation measurements obtained from monocular SLAM (Simultaneous Localization and Mapping) and inertial sensors, using an Extended Kalman filter as sequential estimator. The development of the Attitude and Heading Reference System (AHRS) is described in detail. Information obtained independently from the two systems...
In this work a pedestrian dead reckoning (PDR) algorithm is proposed in which 3-axis inertial sensors (accelerometer and gyroscope) are used. This work consists of the first stage of a project, in which inertial sensors will be integrated with a global position system (GPS) sensor and a camera in a hand-held platform which performs monocular simultaneous localization and mapping (mono SLAM). The PDR...
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