Analysis of vision aided inertial navigation systems

被引：0
|
作者：
Yuksel, Yigiter [1 ]
Kaygisiz, H. Burak [1 ]
机构：
[1] ODTU, Elekt & Elektron Muhendisligi Bolumu, Ankara, Turkey
来源：
2006 IEEE 14TH SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS, VOLS 1 AND 2 | 2006年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We propose in this paper a method to integrate inertial navigation systems with electro optic imaging devices. Our method is based on updating the inertial navigation system in a Kalman filter structure using line of sight measurements obtained from a camera. The proposed method is analyzed based on a UAV scenario generated by our trajectory simulator and the results are provided here. The results show that even a single vision aid can improve the performance of inertial navigation system.
引用
收藏
页码：381 / +
页数：2
相关论文
共 50 条
  • [21] ERROR ANALYSIS OF 2 NEW GRADIOMETER-AIDED INERTIAL NAVIGATION SYSTEMS
    HELLER, WG
    JORDAN, SK
    JOURNAL OF SPACECRAFT AND ROCKETS, 1976, 13 (06) : 340 - 347
  • [22] Vision-aided inertial navigation system for robotic mobile mapping
    Bayoud, Fadi
    Skaloud, Jan
    JOURNAL OF APPLIED GEODESY, 2008, 2 (01) : 39 - 52
  • [23] Vision-aided inertial navigation with rolling-shutter cameras
    Li, Mingyang
    Mourikis, Anastasios I.
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2014, 33 (11): : 1490 - 1507
  • [24] Vision-Aided Inertial Navigation for Pose Estimation of Aerial Vehicles
    Saeedi, Sara
    Samadzadegan, Farhad
    El-Sheimy, Naser
    PROCEEDINGS OF THE 22ND INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2009), 2009, : 453 - 459
  • [25] Inertial Navigation Aided by Vision-Based Simultaneous Localization and Mapping
    Sazdovski, Vasko
    Silson, Peter M. G.
    IEEE SENSORS JOURNAL, 2011, 11 (08) : 1646 - 1656
  • [26] A Novel Fusion Scheme for Vision Aided Inertial Navigation of Aerial Vehicles
    Xiao, Ming
    Pan, Liang
    Hu, Tianjiang
    Shen, Lincheng
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2013, 2013
  • [27] Observability Analysis of a Vision-aided Inertial Navigation System Using Planar Features on the Ground
    Panahandeh, Ghazaleh
    Guo, Chao X.
    Jansson, Magnus
    Roumeliotis, Stergios I.
    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 4187 - 4194
  • [28] Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing
    Mourikis, Anastasios I.
    Trawny, Nikolas
    Roumeliotis, Stergios I.
    Johnson, Andrew E.
    Ansar, Adrian
    Matthies, Larry
    IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (02) : 264 - 280
  • [29] ACCURACY EVALUATION OF STEREO VISION AIDED INERTIAL NAVIGATION FOR INDOOR ENVIRONMENTS
    Griessbach, Denis
    Baumbach, Dirk
    Boerner, Anko
    Zuev, Sergey
    ISPRS ACQUISITION AND MODELLING OF INDOOR AND ENCLOSED ENVIRONMENTS 2013, 2013, 40-4-W4 : 13 - 17
  • [30] Cooperative Vision-aided Inertial Navigation Using Overlapping Views
    Melnyk, Igor V.
    Hesch, Joel A.
    Roumeliotis, Stergios I.
    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 936 - 943
12345