Error analysis and attitude observability of a monocular GPS/visual odometry integrated navigation filter

International Journal of Robotics Research

Volumn 31, Issue 6, 2012, Pages 714-737

  Dusha, Damien ^a   Mejias, Luis ^a  

^a QUEENSLAND UNIVERSITY OF TECHNOLOGY   (Australia)

Author keywords

Attitude; Error analysis; GPS; Observability; Visual odometry

Indexed keywords

ATTITUDE; FEATURE-TRACKING; INERTIAL MEASUREMENT UNIT; INTEGRATED NAVIGATION; NAVIGATION FILTERS; NAVIGATION FRAME; OBSERVABILITY ANALYSIS; VISUAL ODOMETRY;

ERROR ANALYSIS; NAVIGATION; OBSERVABILITY; UNITS OF MEASUREMENT; VISION;

GLOBAL POSITIONING SYSTEM;

EID: 84872767079     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364911433777     Document Type: Review

References (42)

1. Agrawal M and Konolige K (2006) Real-time localization in outdoor environments using stereo vision and inexpensive GPS. In International Conference on Pattern Recognition, vol. 3, pp. 1063-1068.
2. Agrawal M, Konolige K and Bolles R (2007) Localization and mapping for autonomous navigation in outdoor terrains: A stereo vision approach. In IEEE Workshop on Applications of Computer Vision, p. 7.
3. Bay H, Tuytelaars T and Gool LV (2006) Surf: Speeded up robust features. In European Conference on Computer Vision.
4. Bonin-Font F, Ortiz A and Oliver G (2008) Visual navigation for mobile robots: A survey. Journal of Intelligent and Robotic Systems 53: 263-296.
5. Bryson M and Sukkarieh S (2008) Observability analysis and active control for airborne SLAM. IEEE Transactions on Aerospace and Electronic Systems 44: 261-280.
6. Caballero F, Merino L, Ferruz J and Ollero A (2008) Vision-based odometry and slam for medium and high altitude flying uavs. Journal of Intelligent and Robotic Systems 54: 137-161.
7. Carceroni R, Kumar A and Daniilidis K (2006) Structure from motion with known camera positions. In IEEE Conference on Computer Vision and Pattern Recognition, vol. 1, pp. 477-484.
8. Cesetti A, Frontoni E, Mancini A, Ascani A, Zingaretti P and Longhi S (2011) A visual global positioning system for unmanned aerial vehicles used in photogrammetric applications. Journal of Intelligent and Robotic Systems 61: 157-168.
9. Chatterji G, Menon P and Sridhar B (1997) GPS/machine vision navigation system for aircraft. IEEE Transactions on Aerospace and Electronic Systems 33: 1012-1025.
10. Chen C-T (1998) Linear System Theory and Design, 3rd edition. Oxford: Oxford University Press.
11. Chiuso A, Favaro P, Jin H and Soatto S (2002) Structure from motion causally integrated over time. IEEE Transactions on Pattern Analysis and Machine Intelligence 24: 523-535.
12. Dusha D and Mejias L (2010) Attitude observability of a loosely-coupled gps/visual odometry integrated navigation filter. In Australiasian Conference on Robotics and Automation.
13. Dusha D, Mejias L and Walker R (2011) Fixed wing attitude estimation using temporal tracking of the horizon and optical flow. Journal of Field Robotics 28: 355-372.
14. Farrell J (2008) Aided Navigation: GPS with High Rate Sensors. New York: McGraw Hill.
15. Greer DG, Mudford R, Dusha D and Walker R (2010) Airborne systems laboratory for automation research. In International Congress of the Aeronautical Sciences.
16. Groves PD (2008) Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems. Artech House.
17. Hong S, Chun H-H, Kwon S-H and Lee MH (2008) Observability measures and their application to GPS/INS. IEEE Transactions on Vehicular Technology 57: 97-106.
18. Hong S, Lee MH, Chun H-H, Kwon S-H and Speyer J (2005) Observability of error states in GPS/INS integration. IEEE Transactions on Vehicular Technology 54: 731-743.
19. Huang G, Mourikis A and Roumeliotis S (2008) Analysis and improvement of the consistency of extended Kalman filter based SLAM. In IEEE International Conference on Robotics and Automation, 2008 (ICRA 2008), pp. 473-479.
20. IEEE (2007) IEEE Standard for Information Technology - Telecommunications and Information Exchange Between Systems - Local and Metropolitan Area Networks - Specific Requirement Part 15.4: Wireless Medium Access Control (MAC) and Physical Layer (PHY) Specifications for Low-Rate Wireless Personal Area Networks (WPANs). IEEE Standard 802.15.4a-2007 (Amendment to IEEE Std 802.15.4-2006), pp. 1-203.
21. Jones ES and Soatto S (2011) Visual-inertial navigation, mapping and localization: A scalable real-time causal approach. The International Journal of Robotics Research 30: 407-430.
22. Kelly J and Sukhatme GS (2011) Visual-inertial sensor fusion: Localization, mapping and sensor-to-sensor self-calibration. The International Journal of Robotics Research 30: 56-79.
23. Kornfeld RP, Hansman RJ and Deyst JJ (1998) Single-antenna gps-based aircraft attitude determination. Navigation 45: 51-60.
24. Kume H, Taketomi T, Sato T and Yokoya N (2010) Extrinsic camera parameter estimation using video images and GPS considering GPS positioning accuracy. In International Conference on Pattern Recognition, pp. 3923-3926.
25. Lai J, Mejias L and Ford JJ (2011) Airborne vision-based collision-detection system. Journal of Field Robotics 28: 137-157.
26. Lerner R, Rivlin E and Rotstein H (2006) Pose and motion recovery from feature correspondences and a digital terrain map. IEEE Transactions on Pattern Analysis and Machine Intelligence 28: 1404-1417.
27. Li H, Nashashibi F and Toulminet G (2010) Localization for intelligent vehicle by fusing mono-camera, low-cost GPS and map data. In IEEE Conference on Intelligent Transportation Systems, pp. 1657-1662.
28. Ma Y, Soatto S, Kosecka J and Sastry S (2004) An Invitation to 3D Vision: From Images to Geometric Models. NewYork: Springer.
29. Mahony R, Hamel T and Pflimlin J-M (2008) Nonlinear complementary filters on the special orthogonal group. IEEE Transactions on Automatic Control 53: 1203-1218.
30. Maimone M, Cheng Y and Matthies L (2007) Two years of visual odometry on the Mars Exploration Rovers. Journal of Field Robotics 43: 169-186.
31. Martinez C, Mejias L and Campoy P (2011) A multi-resolution image alignment technique based on direct methods for pose estimation of aerial vehicles. In International Conference on Digital Image Computing: Techniques and Applications.
32. Mourikis A, Roumeliotis S and Burdick J (2007) SC-KF mobile robot localization: A stochastic cloning Kalman filter for processing relative-state measurements. IEEE Transactions on Robotics 23: 717-730.
33. Rae A and Basir O (2009) Reducing multipath effects in vehicle localization by fusing GPS with machine vision. In International Conference on Information Fusion, pp. 2099-2106.
34. Rhee I, Abdel-Hafez M and Speyer J (2004) Observability of an integrated GPS/INS during maneuvers. IEEE Transactions on Aerospace and Electronic Systems 40: 526-535.
35. Rizos C and Li B (2011) Independent testing of locata: A new high accuracy indoor positioning system. In ION GNSS.
36. Rizos C, Lilly B, Robertson C and Gambale N (2011) Open cut mine machinery automation: Going beyond GNSS with Locata. In 2nd International Future Mining Conference, Sydney.
37. Roberts PJ, Walker RA and O'Shea P (2005) Fixed wing UAV navigation and control through integrated GNSS and vision. In AIAA Guidance, Navigation, and Control Conference, San Francisco, CA.
38. Schleicher D, Bergasa L, Ocana M, Barea R and Lopez M (2009) Real-time hierarchical outdoor SLAM based on stereovision and GPS fusion. IEEE Transactions on Intelligent Transportation Systems 10: 440-452.
39. Vidal-Calleja T, Bryson M, Sukkarieh S, Sanfeliu A and Andrade-Cetto J (2007) On the observability of bearing-only SLAM. In IEEE International Conference on Robotics and Automation, pp. 4114-4119.
40. Wang C, Walker RA and Moody M (2007) Single antenna attitude algorithm for non-uniform antenna gain patterns. Journal of Spacecraft and Rockets 44: 221-229.
41. Wei L, Cappelle C, Ruichek Y and Zann F (2011) GPS and stereovision based visual odometry: application to urban scene mapping and intelligent vehicle localization. International Journal of Vehicular Technology, in press.
42. Zhang C, Kuhn M, Merkl B, Mahfouz M and Fathy A (2006) Development of an UWB indoor 3D positioning radar with millimeter accuracy. In IEEE MTT-S International Microwave Symposium Digest, pp. 106-109.