Open access
2026
Reliability-Aware VPR-Aided Integrated Localization via Evidence Gating and NIS-Based Adaptive Covariance Scaling
Reliable localization in Global Navigation Satellite System (GNSS)-challenged environments requires external position updates to constrain inertial drift. Visual place recognition (VPR) can provide such constraints by matching onboard images against a pre-built geo-referenced visual map and generating position pseudo-m...
Yong-Qiang Liu, Jian Wang, Wei Jiang et al.
· IEEE Transactions on Automat... · 0 citations