This research paper presents a novel system for improving GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms. The system benefits from the online adaptive calibration of the rotational extrinsic parameter between the GPS reference frame and the VIO reference frame. The paper proves the observability of this parameter through nonlinear analysis. The proposed algorithm was extensively tested on various platforms, showing increased localization accuracy compared to existing algorithms. The paper also discusses the limitations and drawbacks of GPS and VIO systems and the benefits of their fusion.
Publication date: 22 Sep 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2309.12005
