A navigation filter for fusing DTM/correspondence updates

Oleg Kupervasser; Vladimir Voronov

doi:10.1109/ROBIO.2011.6181516

A navigation filter for fusing DTM/correspondence updates

Oleg Kupervasser, Vladimir Voronov

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages	1591-1596
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2011.6181516
State	Published - 2011
Externally published	Yes
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 7 Dec 2011 → 11 Dec 2011

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/Territory	Thailand
City	Phuket
Period	7/12/11 → 11/12/11

Access to Document

10.1109/ROBIO.2011.6181516

Cite this

@inproceedings{c6b668dfc019494cbc72a6d95f092cb9,

title = "A navigation filter for fusing DTM/correspondence updates",

abstract = "An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.",

author = "Oleg Kupervasser and Vladimir Voronov",

year = "2011",

doi = "10.1109/ROBIO.2011.6181516",

language = "אנגלית",

isbn = "9781457721373",

series = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

pages = "1591--1596",

booktitle = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

note = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ; Conference date: 07-12-2011 Through 11-12-2011",

}

Kupervasser, O & Voronov, V 2011, A navigation filter for fusing DTM/correspondence updates. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181516, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 1591-1596, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 7/12/11. https://doi.org/10.1109/ROBIO.2011.6181516

A navigation filter for fusing DTM/correspondence updates. / Kupervasser, Oleg; Voronov, Vladimir.
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 1591-1596 6181516 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A navigation filter for fusing DTM/correspondence updates

AU - Kupervasser, Oleg

AU - Voronov, Vladimir

PY - 2011

Y1 - 2011

N2 - An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.

AB - An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.

UR - http://www.scopus.com/inward/record.url?scp=84860740808&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2011.6181516

DO - 10.1109/ROBIO.2011.6181516

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:84860740808

SN - 9781457721373

T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

SP - 1591

EP - 1596

BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Y2 - 7 December 2011 through 11 December 2011

ER -

A navigation filter for fusing DTM/correspondence updates

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this