Change search
ReferencesLink to record
Permanent link

Direct link
Vision-aided Inertial Navigation Using Planar Terrain Features
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. KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-6855-5868
2011 (English)In: First International Conference on Robot, Vision and Signal Processing (RVSP), 2011, IEEE Press, 2011, 287-291 p.Conference paper (Refereed)
Abstract [en]

The idea is to implement a vision-aided inertial navigation system (INS) for estimating inertial measurement unit (IMU)-camera ego-motion. The system consists of a ground facing monocular camera mounted on an IMU that is observing ground plane feature points. The motion estimation procedure is through tracking detected corresponding feature points between two successive image frames. The main contribution of this paper is a novel closed-form measurement model based on the image data and IMU output signals. In contrast to existing methods, our algorithm is independent of the underlying vision algorithm such as image motion estimation or optical flow algorithms for camera motion estimation. Additionally, unlike the visual-SLAM based methods, our approach is not based on data association. The algorithm has been implemented using an Extended Kalman filter (EKF), which propagates the current and the last state of the system updated in the previous measurement state. Simulation results show that the introduced method is persistent to the level of the noise and works well even with few numbers of features.

Place, publisher, year, edition, pages
IEEE Press, 2011. 287-291 p.
Keyword [en]
vision-aided INS, ego-motion, augmented EKF
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-52887DOI: 10.1109/RVSP.2011.64ScopusID: 2-s2.0-84856513029ISBN: 978-1-4577-1881-6OAI: diva2:468110
International Conference on Robot, Vision and Signal Processing, 21-23 Nov. 2011, Kaohsiung City, Taiwan
ICT - The Next Generation
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20111220Available from: 2011-12-20 Created: 2011-12-20 Last updated: 2012-06-13Bibliographically approved

Open Access in DiVA

fulltext(1089 kB)1968 downloads
File information
File name FULLTEXT01.pdfFile size 1089 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopusIEEEXplore

Search in DiVA

By author/editor
Panahandeh, GhazalehJansson, Magnus
By organisation
ACCESS Linnaeus CentreSignal Processing
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 1968 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 229 hits
ReferencesLink to record
Permanent link

Direct link