We describe a novel inertial navigation system based on measurementfusion which includes stereo-vision among its sensors. The vision-augmented system provides enhanced accuracy in the estimation ofthe vehicle states whenflying in proximity ofobstacles, and can operate without GPS signal, for example whenflying under vegetation cover, indoors or in complex urban environments. Scene feature points are tracked between the left an right images and across time steps, yielding vision-based information on the state of motion of the vehicle which isfused together with other non-vision-based sensors. Theproposed approach is demonstrated using simulationfor an autonomous helicopterflying in an urban environment.


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    Title :

    Vision-augmented inertial navigation by sensor fusion for an autonomous rotorcraft vehicle


    Additional title:

    Sichtverstärkte Trägheitsnavigation durch Sensorfusion für einen autonom fliegenden Hubschrauber


    Contributors:


    Publication date :

    2009


    Size :

    11 Seiten, 11 Bilder, 12 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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