Tightly-Coupled Stereo Visual-Inertial Navigation Using Point and Line Features
نویسندگان
چکیده
منابع مشابه
Tightly-Coupled Stereo Visual-Inertial Navigation Using Point and Line Features
This paper presents a novel approach for estimating the ego-motion of a vehicle in dynamic and unknown environments using tightly-coupled inertial and visual sensors. To improve the accuracy and robustness, we exploit the combination of point and line features to aid navigation. The mathematical framework is based on trifocal geometry among image triplets, which is simple and unified for point ...
متن کاملImprovement of Navigation Accuracy using Tightly Coupled Kalman Filter
In this paper, a mechanism is designed for integration of inertial navigation system information (INS) and global positioning system information (GPS). In this type of system a series of mathematical and filtering algorithms with Tightly Coupled techniques with several objectives such as application of integrated navigation algorithms, precise calculation of flying object position, speed and at...
متن کاملTightly Coupled Integration of Ionosphere-Constrained Precise Point Positioning and Inertial Navigation Systems
The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together fo...
متن کاملImproving Aiding techniques for USBL Tightly-Coupled Inertial Navigation System
This paper presents two Tightly-Coupled fusion techniques to enhance position, velocity and attitude estimation based on position fixes of an Ultra-Short Base Line (USBL) positioning system with low update rates and the high rate Inertial Navigation System (INS) outputs, subject to bias and unbounded drift. In this framework, the vehicle interrogates transponders placed at known positions of th...
متن کاملCoupled Vision and Inertial Navigation for Pin - Point Landing
Our research task in NASA’s Mars Technology Program focuses on terrain relative state estimation during planetary descent to enable pin-point landing. In this task we have developed estimation algorithms that fuse inertial and visual measurements as well as computer vision algorithms that automatically extract landmark locations and terrain feature tracks through a sequence of images. These alg...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2015
ISSN: 1424-8220
DOI: 10.3390/s150612816