A Real-Time CPU-GPU Embedded Implementation of a Tightly-Coupled Visual-Inertial Navigation System

In autonomous navigation technologies, the Multi-State Constraint Kalman Filter (MSCKF) is one of the most accurate and robust tightly-coupled fusion frameworks for Visual-Inertial Navigation (VIN). However, the adoption of the MSCKF VIN system in real-time embedded applications depends heavily on a...

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Bibliographic Details
Published in:	IEEE access Vol. 10; pp. 86384 - 86394
Main Authors:	Sheikhpour, K. Soroush, Atia, Mohamed
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Autonomous navigation Autonomous systems Central processing units CPUs Embedded software Embedded systems Graphics processing units Inertial navigation kalman filter Kalman filters Localization Navigation systems Optimization Parallel processing Pipelining (computers) Real time Real-time systems sensor fusion Sensors visual-inertial navigation Visualization
ISSN:	2169-3536, 2169-3536
Online Access:	Get full text
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