Integrating GRU with a Kalman Filter to Enhance Visual Inertial Odometry Performance in Complex Environments
Tarafder Elmi Tabassum,
Zhengjia Xu,
Ivan Petrunin
et al.
Abstract:To enhance system reliability and mitigate the vulnerabilities of the Global Navigation Satellite Systems (GNSS), it is common to fuse the Inertial Measurement Unit (IMU) and visual sensors with the GNSS receiver in the navigation system design, effectively enabling compensations with absolute positions and reducing data gaps. To address the shortcomings of a traditional Kalman Filter (KF), such as sensor errors, an imperfect non-linear system model, and KF estimation errors, a GRU-aided ESKF architecture is p… Show more
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