Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measureme...

Vision based navigation system

A vision based navigation system to guide an endoscope inside a human colon has been designed and tested. It uses low level vision techniques to extract two types of navigational landmarks, dark regions and curved contours. Dark regions correspond to the distant inner space of the colon, called the lumen. The curved contours represent occlusions due to the inner colon muscles. A hierarchical se...

Integrated Vision/Inertial Navigation System Design Using Nonlinear Filtering *

This paper addresses the problem of navigation system design for autonomous aircraft landing. New nonlinear filter structures are introduced to estimate the position of an aircraft with respect to a possibly moving landing site, such as a Naval vessel, based on measurements provided by airborne vision and inertial sensors.. By exploring the geometry of the navigation problem, the navigation fil...

VINAV A system for VIsion supported NAVigation

Performance Enhancement of GPS/INS Integrated Navigation System Using Wavelet Based De-noising method

Accuracy of inertial navigation system (INS) is limited by inertial sensors imperfections. Before using inertial sensors signals in the data fusion algorithm, noise removal method should be performed, in which, wavelet decomposition method is used. In this method the raw data is decomposed into high and low frequency data sets. In this study, wavelet multi-level resolution analysis (WMRA) techn...