This paper is devoted to the construction of a robust visual-inertial odometry system for an unmanned vehicle using binocular cameras and inertial sensors as information sources.The system is based on a modified structure of the VINS-FUSION system. Two types of feature points and matching methods are used to better balance the quantity and quality of tracking points. To filter out incorrect matches of key points, it is proposed to use several different methods. Semantic and geometric information are combined to quickly remove dynamic objects. Keypoints of static objects are used to complement the tracking points. A multi-layer optimization mechanism is proposed to fully utilize all point matchings and improve the accuracy of motion estimation. The experimental results demonstrate the effectiveness of the system.

Keywords: robust visual-inertial odometry, localization, road scene, multi-level optimization mechanism

Most of web pages of the Web are inaccessible for the blind users. And the main reason is a lack of the semantics at the source code (technical) level of web pages and absence of the navigational components. In this work we propose a new web page representation---multiaxial navigation model---representing web documents in the form convinient for the blind users. Moreover, we present methodology for the navigation on the model proposed, that ensure an efficiency of user mobility. Automatic transformation of a web page into the multiaxial navigation model and navigation means are realized in the Blindzilla prototype. An efficiency of the proposed concepts is proven experimentally regarding contemporary screen readers, such as JAWS, Window-Eyes, and Fire Vox.

Keywords: web accessibility, navigation, web page, web technologies