@inproceedings{36779b84ec554301be9d27f238655c33,
title = "Correcting errors of an inertial navigation system by methods of visual navigation",
abstract = "This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). It is shown that the optical flow derived from two consecutive camera frames can be used in combination with a DTM to estimate the position, orientation and ego-motion parameters of the moving camera. In the present work the sensitivity of the algorithm is studied. The main sources for errors are identified to be the optical-flow evaluation and computation, the quality of the DTM data, the structure of the observed terrain and the trajectory of the camera. By assuming appropriate characterization of these error sources, a closed form expression for the uncertainty of the pose and motion of the camera is first developed and then the influence of these factors is confirmed using extensive numerical simulations.",
keywords = "Digital terrain map, Error, Moving camera, Navigation algorithm",
author = "Vladimir Voronov and Oleg Kupervasser",
year = "2012",
language = "אנגלית",
series = "19th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2012 - Proceedings",
pages = "191--193",
editor = "Peshekhonov, {Vladimir G.} and Krytova, {A. K.}",
booktitle = "19th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2012 - Proceedings",
note = "19th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2012 ; Conference date: 28-05-2012 Through 30-05-2012",
}