Performance evaluation of vision aided inertial navigation system augmented with a coded aperture

Proceedings of the Institute of Navigation, National Technical Meeting

Volumn 1, Issue , 2009, Pages 61-73

  Morrison, Jamie R ^a   Raquet, John F ^a   Veth, Michael J ^a  

^a Air Force Institute of Technology

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS NAVIGATION; CAMERA BASED VISION SYSTEM; CLOSED LOOPS; CODED APERTURES; EXTERNAL SIGNALS; FEATURE LOCATION; GLOBAL COORDINATES; IMAGE CAPTURES; IMAGING PERFORMANCE; INDOOR ENVIRONMENT; INDOOR NAVIGATION; INHERENT INSTABILITY; KAIMAN FILTER; LOCATION ESTIMATION; PERFORMANCE EVALUATION; POSITION SYSTEMS; POWER REQUIREMENT; SATELLITE-BASED NAVIGATION; VISION-AIDED INERTIAL NAVIGATION;

AIR NAVIGATION; CAMERAS; LOCATION; MICRO AIR VEHICLE (MAV);

INERTIAL NAVIGATION SYSTEMS;

EID: 70449698626     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (27)

1. Barbour, B. A., and D. B. Chenault, "System for receiving and enhancing electromagnetic radiation input signals," U.S. Patent 5,890,095, March 30, 1997.
2. Bates, D. P., "Navigation Using Optical Tracking of Objects at Unknown Locations," M.S. Thesis, Russ College of Engineering and Technology of Ohio University, Athens, OH, U.S., 2007.
3. Brenner, C., "Registration and 3D modeling of aerial laser scanner data," International Summer School Digital Recording and 3D Modeling, Aghios Nikolaos, Crete, Greece, 2006.
4. Brown, A, and R. Silva, "Video-aided GPS/INS Positioning and Attitude Determination," Proceedings on the 12th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GPS, September, 1999.
5. Cormen, T. H., C. E. Leiserson, R. L. Rivest, and C. Stein, Introduction to Algorithms, 2nd ed., Cambridge, MA: McGraw Hill, 2001.
6. Diel, D., P. DeBitetto, S. Teller, "Epipolar Constraints for Vision-Aided Inertial Navigation," Proceedings of the IEEE Workshop on Motion and Video Computing, Vol. 2, pp. 221-228, 2005.
7. Ettinger, S. M., M. C. Nechyba, P. G. Ifju, M. Waszak, "Vision-guided flight stability and control for micro air vehicles," International Conference on Intelligent Robots and Systems, Vol. 3, pp. 2134-2140, 2002.
8. Fearing, R. S., K. H. Chiang, M. H. Dickinson, D. L. Pick, M. Sitti, J. Yan, "Wing transmission for a micromechanical flying insect," Proceedings on IEEE Conference on Robotics and Automation, Vol. 2, pp. 1509-1516, 2000.
9. Forsyth, D. A., and J. Ponce, Computer Vision: A Modern Approach, Upper Saddle River, NJ: Prentice Hall, 2003.
10. Georgiev, T., K. C. Zheng, B. Curless, D. Salesin, et al., "Spatio-Angular Resolution Tradeoff in Integral Photography," ACM Transactions on Graphics. Vol. 26, July 2007.
11. Groves, P. D., Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Boston, MA: Artech House, 2008.
12. Kellogg, J. C., Bovais, R. Foch, et al, "The NRL micro tactical expendable (MITE) air vehicle," Aeronautical Journal, August 2002.
13. Levin, A., R. Fergus, F. Durand, and W. Freeman, "Image and Depth from a Conventional Camera with a Coded Aperture," ACM Transactions on Graphics. Vol. 26, No. 3, Article 70, July 2007.
14. Markoff, J., "Crashes and Traffic Jams in Military Test of Robotic Vehicles," The New York Times, November 5, 2007.
15. Merico, D., and R. Bisiani, "Indoor Navigation with Minimal Infrastructure," Fourth Workshop on Positioning, Navigation and Communication, pp. 141-144, 22-22 March 2007.
16. Mohr, B. B., and D. L. Fitzpatrick, "Micro air vehicle navigation system," Aerospace and Electronic Systems Magazine, IEEE, Vol. 23, No. 4, pp. 19-24, April 2008.
17. Pentland, A. P., "A New Sense for Depth of Field," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 9, No. 4, pp. 523-531, July 1987.
18. Russel, S., and P. Norvig, Artificial Intelligence: A Modern Approach, NJ: Prentice Hall, 2003.
19. Schechner, Y. Y., and N. Kiryati, "Depth from Defocus vs. Stereo: How Different Really are They?" Fourteenth International Conference on Pattern Recognition, Vol. 2, pp. 1784-1786, August 1998.
20. Stewart, K, J. Wagener, G. Abate, and M. Salichon, "Design of the Air Force Research Laboratory Micro Aerial Vehicle Research Configuration," AIAA Aerospace Sciences Meeting, Reno, NV, January 2007.
21. Thrun, S., M. Montemerlo, D. Dahlkamp, et.al, "Stanley: The Robot That Won The DARPA Grand Challenge," Journal of Field Robotics, Vol. 23, No. 9, pp. 661-692, June 2006.
22. Veeraraghaven, A., R. Raskar, A. Agrawal, and A. Mohan, J. Tumblin, "Dappled Photography: Mask Enhanced Cameras for Heterdyned Light Fields and Coded Aperture Refocusing," ACM Transactions on Graphics. Vol. 26, No. 3, July 2007.
23. U.S., Department of Transportation., Vulnerability Assessment of the Transportation Infrastructure Relying on the Global Positioning System, John A. Volpe National Transportation Systems Center, Office of the Assistant Secretary for Transportation Policy, August 2001.
24. Veth, M. J., Fusion of Imaging and Inertial Sensors for Navigation, PhD dissertation, Air Force Institute of Technology, 2006.
25. Veth, M. J., and J. Raquet, "Fusing Low-Cost Image and Inertial Sensors for Passive Navigation," NAVIGATION: Journal of the Institute of Navigation, Vol. 54, No. 1, pp. 11-20, Spring 2007.
26. Veth, M. J., J. Raquet, and M. Pachter, "Stochastic Constraints for Fast Image Correspondence Search with Uncertain Terrain Model," IEEE Transactions on Aerospace and Electronics Systems, Vol. 42, No. 3, pp. 973-982, July 2006.
27. Watanabe, M., and N. K. Shree, "Telecentric Optics for Focus Analysis,", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 19, No. 12, pp. 1360-1365, December 1997.