Improving Positioning Accuracy via Map Matching Algorithm for Visual-Inertial Odometer.

A visual-inertial odometer is used to fuse the image information obtained by a vision sensor with the data measured by an inertial sensor and recover the motion track online in a global frame. However, in an indoor environment, geometric transformation, sparse features, illumination changes, blurring, and noise will occur, which will either cause a reduction in or failure of the positioning accuracy. To solve this problem, a map matching algorithm based on an indoor plane structure map is proposed to improve the positioning accuracy of the system; this algorithm was implemented using a conditional random field model.