A Visual-Inertial Vehicle Navigation System Based Line Feature

In this paper, an integrated navigation system based on visual and inertial sensors for vehicles is proposed to solve the low accuracy position estimation problem caused by the unavailability signal of GNSS. In the proposed method, the visual sensor provides not only the attitude information by visual attitude method but also the motion information by visual odometer algorithm. Because the visual information is used in two separate ways, the proposed integrated navigation method has better robustness in dynamic conditions. It is verified by experiments in dynamic conditions. The experimental results show that the attitude errors of the proposed method can be reduced an order of magnitude than the previous visual attitude aided inertial navigation systems. For position estimation, the proposed method can improve the accuracy, stability, and reliability of the vehicle navigation system.