Table 2 Simulation configurations
From: M2C-GVIO: motion manifold constraint aided GNSS-visual-inertial odometry for ground vehicles
Parameter | Value |
|---|---|
IMU frequency | 100 Hz |
Camera frequency | 10 Hz |
GNSS frequency | 10 Hz |
Gyroscope noise | 0.0001 \(rad/s/\sqrt{Hz}\) |
Acceleration noise | 0.0005 \(m/s^2/\sqrt{Hz}\) |
Gyroscope random walk | 0.000005 \(rad/s^2/\sqrt{Hz}\) |
Acceleration random walk | 0.00004 \(m/s^3/\sqrt{Hz}\) |
GNSS position error | 0.5 m |
Image width | 640 pixels |
Image height | 640 pixels |
Feature observation noise | 1.5 pixels |