Fig. 2
From: Urban localization using robust filtering at multiple linearization points
Sensor modules in our multi-sensor setup. The setup includes a camera module with depth estimation and feature detection component, b GNSS module that combines pseudorange measurements from multiple satellite constellations and a nearby base station, and c AHRS module that provides orientation and angular velocity measurements. The camera module outputs velocity and landmark measurements, which are fused with the GNSS and AHRS measurements by our filter for state estimation