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Visual-Inertial Odometry (VIO) usually suffers from drifting over long-timeruns, the accuracy is easily affected by dynamic objects. We propose DynaVIG, anavigation and object tracking system based on the integration of MonocularVision, Inertial Navigation System (INS), and Global Navigation SatelliteSystem (GNSS). Our system aims to provide an accurate global estimation of thenavigation states and object poses for the automated ground vehicle (AGV) indynamic scenes. Due to the scale ambiguity of the object, a prior height modelis proposed to initialize the object pose, and the scale is continuouslyestimated with the aid of GNSS and INS. To precisely track the object withcomplex moving, we establish an accurate dynamics model according to its motionstate. Then the multi-sensor observations are optimized in a unified framework.Experiments on the KITTI dataset demonstrate that the multisensor fusion caneffectively improve the accuracy of navigation and object tracking, compared tostate-of-the-art methods. In addition, the proposed system achieves goodestimation of the objects that change speed or direction.

DynaVIG: Monocular Vision/INS/GNSS Integrated Navigation and Object Tracking for AGV in Dynamic Scenes