Vision-Based Navigation I: A navigation filter for fusing DTM/correspondence updates
arXiv:1107.0399 · doi:10.1109/ROBIO.2011.6181516
Abstract
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.
26 pages, 3 figures, in English and in Russian. arXiv admin note: substantial text overlap with arXiv:1106.6341, arXiv:1107.1470
References in corpus (1)
Cited by in corpus (3)
- Vision-Based Navigation II: Error Analysis for a Navigation Algorithm based on Optical-Flow and a Digital Terrain Map
- Robust positioning of drones for land use monitoring in strong terrain relief using vision-based navigation
- Visual navigation for airborne control of ground robots from tethered platform: creation of the first prototype