Camera-aided inertial navigation using epipolar points
2010 (English)In: 2010 IEEE-ION POSITION LOCATION AND NAVIGATION SYMPOSIUM PLANS, New York: IEEE conference proceedings, 2010, 303-309 p.Conference paper (Refereed)
Due to the rapid error growth of navigation systems using low-cost inertial measurement units there is a need to fuse the information with complementary sensors. In this paper a monocular camera is used to aid the system. Unlike SLAM-like approaches the problem of estimating the location of each feature point viewed in a scene is avoided, instead estimated epipolar points on the image plane are used. By maintaining a buffer of past views, the method mimics a short-term visual memory which imposes multiple constraints on the estimation problem. The result is a Sigma-Point Kalman filter in square-root form with a linear and efficient time-update. A simulation study is presented indicating the filter's capacity to constrain the rate of error growth of an inertial navigation system. The filter may also find useful applications when fusing with additional sensors.
Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2010. 303-309 p.
, IEEE-ION Position Location and Navigation Symposium, ISSN 2153-358X
Inertial navigation, monocular camera, sensor fusion, Sigma-Point Kalman filter
IdentifiersURN: urn:nbn:se:kth:diva-32110DOI: 10.1109/PLANS.2010.5507246ISI: 000287515800084ScopusID: 2-s2.0-77955022164ISBN: 978-1-4244-5037-4OAI: oai:DiVA.org:kth-32110DiVA: diva2:409000
Position Location and Navigation Symposium (PLANS). Palm Springs, CA. MAY 04-06, 2010
QC 201104072012-11-132011-04-062012-11-13Bibliographically approved