DeepAI AI Chat
Log In Sign Up

DynaVIG: Monocular Vision/INS/GNSS Integrated Navigation and Object Tracking for AGV in Dynamic Scenes

11/26/2022
by   Ronghe Jin, et al.
Wuhan University
The Hong Kong Polytechnic University
0

Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision, Inertial Navigation System (INS), and Global Navigation Satellite System (GNSS). Our system aims to provide an accurate global estimation of the navigation states and object poses for the automated ground vehicle (AGV) in dynamic scenes. Due to the scale ambiguity of the object, a prior height model is proposed to initialize the object pose, and the scale is continuously estimated with the aid of GNSS and INS. To precisely track the object with complex moving, we establish an accurate dynamics model according to its motion state. Then the multi-sensor observations are optimized in a unified framework. Experiments on the KITTI dataset demonstrate that the multisensor fusion can effectively improve the accuracy of navigation and object tracking, compared to state-of-the-art methods. In addition, the proposed system achieves good estimation of the objects that change speed or direction.

READ FULL TEXT

page 1

page 3

page 6

08/21/2018

Estimating Metric Poses of Dynamic Objects Using Monocular Visual-Inertial Fusion

A monocular 3D object tracking system generally has only up-to-scale pos...
04/30/2023

LIMOT: A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking

Simultaneous localization and mapping (SLAM) is critical to the implemen...
04/25/2022

MLO: Multi-Object Tracking and Lidar Odometry in Dynamic Environment

The SLAM system built on the static scene assumption will introduce sign...
10/05/2022

MOTSLAM: MOT-assisted monocular dynamic SLAM using single-view depth estimation

Visual SLAM systems targeting static scenes have been developed with sat...
06/08/2020

Novel Perception Algorithmic Framework For Object Identification and Tracking In Autonomous Navigation

This paper introduces a novel perception framework that has the ability ...
09/29/2016

Robust Moving Objects Detection in Lidar Data Exploiting Visual Cues

Detecting moving objects in dynamic scenes from sequences of lidar scans...
07/05/2018

A Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking

We propose an algorithm for real-time 6DOF pose tracking of rigid 3D obj...