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Camera-aided inertial navigation using epipolar points
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
2010 (English)In: 2010 IEEE-ION POSITION LOCATION AND NAVIGATION SYMPOSIUM PLANS, New York: IEEE conference proceedings, 2010, 303-309 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IEEE-ION Position Location and Navigation Symposium, ISSN 2153-358X
Keyword [en]
Inertial navigation, monocular camera, sensor fusion, Sigma-Point Kalman filter
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-32110DOI: 10.1109/PLANS.2010.5507246ISI: 000287515800084Scopus ID: 2-s2.0-77955022164ISBN: 978-1-4244-5037-4 (print)OAI: oai:DiVA.org:kth-32110DiVA: diva2:409000
Conference
Position Location and Navigation Symposium (PLANS). Palm Springs, CA. MAY 04-06, 2010
Note

QC 20110407

Available from: 2012-11-13 Created: 2011-04-06 Last updated: 2012-11-13Bibliographically approved
In thesis
1. Fusing Visual and Inertial Information
Open this publication in new window or tab >>Fusing Visual and Inertial Information
2011 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2011. vii, 21 p.
Series
Trita-EE, ISSN 1653-5146 ; 2011:023
Keyword
sensor fusion, inertial measurement unit, monocular camera, inertial navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-32112 (URN)978-91-7415-919-6 (ISBN)
Presentation
2011-04-05, Q2, KTH Royal Institute of Technology, Stockholm, 13:15 (English)
Opponent
Supervisors
Note
QC 20110412Available from: 2011-04-12 Created: 2011-04-06 Last updated: 2011-04-12Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Language
  • de-DE
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Output format
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