Artificial Intelligence

   

Correction of Inertial Navigation System's Errors by the Help of Video-Based Navigator Based on Digital Terrarium Map

Authors: Kupervasser O. Yu., Voronov V.V.

This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that the optical flow derived from two consecutive camera frames can be used in combination with a DTM to estimate the position, orientation and ego-motion parameters of the moving camera. As opposed to previous works, the proposed approach does not require an intermediate explicit reconstruction of the 3D world. In the present work the sensitivity of the algorithm outlined above is studied. The main sources for errors are identified to be the optical-flow evaluation and computation, the quality of the information about the terrain, the structure of the observed terrain and the trajectory of the camera. By assuming appropriate characterization of these error sources, a closed form expression for the uncertainty of the pose and motion of the camera is first developed and then the influence of these factors is confirmed using extensive numerical simulations. The main conclusion of this paper is to establish that the proposed navigation algorithm generates accurate estimates for reasonable scenarios and error sources, and thus can be effectively used as part of a navigation system of autonomous vehicles.

Comments: 6 Pages. PRESENTED AT XIX ST.-PETERSBURG INTERNATIONAL CONFERENCE ON THE INTEGRATED NAVIGATIONAL SYSTEMS (MKINS2012)

Download: PDF

Submission history

[v1] 2012-04-01 20:23:36
[v2] 2012-04-25 12:17:56
[v3] 2012-12-18 22:39:33

Unique-IP document downloads: 490 times

Vixra.org is a pre-print repository rather than a journal. Articles hosted may not yet have been verified by peer-review and should be treated as preliminary. In particular, anything that appears to include financial or legal advice or proposed medical treatments should be treated with due caution. Vixra.org will not be responsible for any consequences of actions that result from any form of use of any documents on this website.

Add your own feedback and questions here:
You are equally welcome to be positive or negative about any paper but please be polite. If you are being critical you must mention at least one specific error, otherwise your comment will be deleted as unhelpful.

comments powered by Disqus