Correction of Inertial Navigation System’s Errors by the Help of Video-Based Navigator Based on Digital Terrarium Map - Positioning

POS > Vol.4 No.1, February 2013

Volume 4, Issue 1 (February 2013)

ISSN Print: 2150-850X ISSN Online: 2150-8526

Correction of Inertial Navigation System’s Errors by the Help of Video-Based Navigator Based on Digital Terrarium Map ()

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Download as PDF (Size: 4174KB) PP. 89-108

DOI: 10.4236/pos.2013.41010 5,033 Downloads 8,358 Views Citations

Author(s)

Oleg Yurjevich Kupervasser, Alexander Alexandrovich Rubinstein

Affiliation(s)

Transist Video Ltd., Skolkovo Resident, Russia.

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). More specifically, it has been 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. As opposed to previous works, the proposed approach does not require an intermediate explicit reconstruction of the 3D world. In the present work the sensitivity of the algorithm outlined above is studied. The main sources for errors are identified to be the optical-flow evaluation and computation, the quality of the information about the terrain, 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. The main conclusion of this paper is to establish that the proposed navigation algorithm generates accurate estimates for reasonable scenarios and error sources, and thus can be effectively used as part of a navigation system of autonomous vehicles.

KEYWORDS

Video-Based Navigator; Digital Terrarium Map; Autonomous Vehicles; Inertial Navigation

Share and Cite:

Kupervasser, O. and Rubinstein, A. (2013) Correction of Inertial Navigation System’s Errors by the Help of Video-Based Navigator Based on Digital Terrarium Map. Positioning, 4, 89-108. doi: 10.4236/pos.2013.41010.

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