IPS – a vision aided navigation system
نویسندگان
چکیده
منابع مشابه
Vision Aided Inertial Navigation
Today GPS aided inertial navigation is widely used and well studied in any aspects. The good short term properties of inertial data are complemented by the long term stability of the GPS signal. A common approach is to use a Kalman filter for fusing GPS and inertial data to constrain the inertial sensor drift. Although this is working well in many applications there is a need to find a similar ...
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Reliable information about position and attitude is an essential requirement for many applications. The work expounded in this paper aims at a tight integration of low-cost inertial navigation and stereo vision to obtain this information. The method I present here is based on passive measurements and does not rely on external referencing. Thus, it provides a navigation solution for unknown indo...
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Many onboard navigation systems use the Global Positioning System to bound the errors that result from integrating inertial sensors over time. Global Positioning System information, however, is not always accessible since it relies on external satellite signals. To this end, a vision sensor is explored as an alternative for inertial navigation in the context of an Extended Kalman Filter used in...
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Low cost inertial sensors are often promoted as the solution to indoor navigation. However, in reality, the quality of the measurements is poor, and as a result, the sensors can only be used to navigate for a few seconds at a time before the drift becomes too large to be useful. Therefore, it is necessary to regularly update the sensors with measurements from external systems such as GPS or oth...
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In this technical report, we study estimator inconsistency in Vision-aided Inertial Navigation Systems (VINS) from a standpoint of system observability. We postulate that a leading cause of inconsistency is the gain of spurious information along unobservable directions, resulting in smaller uncertainties, larger estimation errors, and divergence. We support our claim with an analytical study of...
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ژورنال
عنوان ژورنال: Advanced Optical Technologies
سال: 2017
ISSN: 2192-8584,2192-8576
DOI: 10.1515/aot-2016-0067