Autonomous integrity monitoring of a vision based pedestrian dead reckoning system

With the increasing demand for indoor positioning, VIO (visual inertial odometer) are receiving more and more attention due to the universality and convenience of the camera. We found that the visual observation of VIO is more susceptible to the environment, and the error of observation results in the final positioning error. For this reason, we specifically analyzed the visual error source for different scenarios and use the short-time reliability of PDR(Pedestrian Dead Reckoning). PDR is used to assist in the monitoring of integrity of visual observations.

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