Robust and Autonomous Stereo Visual-Inertial Navigation for Non-Holonomic Mobile Robots

Hee Won Chae, Ji Hoon Choi, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


Unlike micro aerial vehicles, most mobile robots have non-holonomic constraints, which makes lateral movement impossible. Consequently, the vision-based navigation systems that perform accurate visual feature initialization by moving the camera to the side to ensure a sufficient parallax of the image are degraded when applied to mobile robots. Generally, to overcome this difficulty, a motion model based on wheel encoders mounted on a mobile robot is used to predict the pose of a robot, but it is difficult to cope with errors caused by wheel slip or inaccurate wheel calibration. In this study, we propose a robust autonomous navigation system that uses only a stereo inertial sensor and does not rely on wheel-based dead reckoning. The observation model of the line feature modified with vanishing-points is applied to the visual-inertial odometry along with the point features so that a mobile robot can perform robust pose estimation during autonomous navigation. The proposed algorithm, i.e., keyframe-based autonomous visual-inertial navigation (KAVIN) supports the entire navigation system and can run onboard without an additional graphics processing unit. A series of experiments in a real environment indicated that the KAVIN system provides robust pose estimation without wheel encoders and prevents the accumulation of drift error during autonomous driving.

Original languageEnglish
Article number9123559
Pages (from-to)9613-9623
Number of pages11
JournalIEEE Transactions on Vehicular Technology
Issue number9
Publication statusPublished - 2020 Sept

Bibliographical note

Funding Information:
Manuscript received August 13, 2019; revised January 28, 2020 and March 31, 2020; accepted June 16, 2020. Date of publication June 25, 2020; date of current version October 13, 2020. This work was supported by an IITP grant funded by the Korean Government (MSIT) (No. 2018-0-00622). The review of this article was coordinated by Dr. A. Chatterjee. (Corresponding author: Jae-Bok Song.) Hee-Won Chae and Jae-Bok Song are with the School of Mechanical Engineering, Korea University, Seoul 02841, South Korea (e-mail:;

Publisher Copyright:
© 1967-2012 IEEE.


  • Autonomous navigation
  • keyframes
  • visual-inertial systems
  • wheeled mobile robots

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics


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