{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T20:52:08Z","timestamp":1778014328545,"version":"3.51.4"},"reference-count":26,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2018,9,5]],"date-time":"2018-09-05T00:00:00Z","timestamp":1536105600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004543","name":"China Scholarship Council","doi-asserted-by":"publisher","award":["201706680019"],"award-info":[{"award-number":["201706680019"]}],"id":[{"id":"10.13039\/501100004543","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005046","name":"Natural Science Foundation of Heilongjiang Province","doi-asserted-by":"publisher","award":["E2017024"],"award-info":[{"award-number":["E2017024"]}],"id":[{"id":"10.13039\/501100005046","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["HEUCFJ180402"],"award-info":[{"award-number":["HEUCFJ180402"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The strapdown inertial navigation system (SINS) is widely used in autonomous vehicles. However, the random drift error of gyroscope leads to serious accumulated navigation errors during long continuous operation of SINS alone. In this paper, we propose to combine the Inertial Measurement Unit (IMU) data with the line feature parameters from a camera to improve the navigation accuracy. The proposed method can also maintain the autonomy of the navigation system. Experimental results show that the proposed inertial-visual navigation system can mitigate the SINS drift and improve the accuracy, stability, and reliability of the navigation system.<\/jats:p>","DOI":"10.3390\/s18092952","type":"journal-article","created":{"date-parts":[[2018,9,6]],"date-time":"2018-09-06T02:55:07Z","timestamp":1536202507000},"page":"2952","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["An Autonomous Vehicle Navigation System Based on Inertial and Visual Sensors"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2406-0919","authenticated-orcid":false,"given":"Xingxing","family":"Guang","sequence":"first","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"},{"name":"Department of Electrical and Computer Engineering, University of Calgary, Calgary, AB T2N1N4, Canada"}]},{"given":"Yanbin","family":"Gao","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Henry","family":"Leung","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Calgary, Calgary, AB T2N1N4, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0434-9854","authenticated-orcid":false,"given":"Pan","family":"Liu","sequence":"additional","affiliation":[{"name":"Beijing Institute of Control and Electronic Technology, Beijing 100032, China"}]},{"given":"Guangchun","family":"Li","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2018,9,5]]},"reference":[{"key":"ref_1","first-page":"2","article-title":"The key technology toward the self-driving car","volume":"6","author":"Zhao","year":"2018","journal-title":"Int. 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