Precise Compensation of Estimated Distance by Pose Estimation using Camera-IMU Sensor Fusion
Dong‐Hyun Lee, Jong-Kwang Kim, Jang-Sub Oh, Xingyou Li, Choonwoo Ryu, Hakil Kim · Journal of Institute of Control Robotics and Systems · 2022
This paper presents a novel method to correct with only the camera and IMU sensors an estimated distance error due to a rapid change in a vehicle’s posture while driving, as it is very important to estimate the distance of a front car in autonomous driving. To estimate the change in vehicle’s posture, the proposed method adopts a visual odometry method using the optical flow and the camera-IMU fusion. The error in the estimated distance caused by an instantaneous change in the vehicle