Loosely coupled Kalman filtering for fusion of Visual Odometry and inertial navigation

Proceedings of the 16th International Conference on Information Fusion, FUSION 2013

Volumn , Issue , 2013, Pages 219-226

  Sirtkaya, Salim ^a   Seymen, Burak ^a   Alatan, A Aydin ^b  

^a ASELSAN INC   (Turkey)

^b MIDDLE EAST TECHNICAL UNIVERSITY   (Turkey)

Author keywords

[No Author keywords available]

Indexed keywords

CORRELATED ERRORS; ERROR PROPAGATION MODEL; INERTIAL NAVIGATIONS; NAVIGATION SOLUTION; OPTIMUM PERFORMANCE; RELIABILITY AND ROBUSTNESS; STANDARD KALMAN FILTERS; STATE TRANSITIONS;

GLOBAL POSITIONING SYSTEM; INFORMATION FUSION; KALMAN FILTERS; KINEMATICS; STATE ESTIMATION; VISION;

INERTIAL NAVIGATION SYSTEMS;

EID: 84890851997     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (23)

1. D. Nister, O. Naroditsky, and J. Bergen, "Visual odometry," IEEE Conference on Computer Vision and Pattern Recognition, vol. 1, pp. 652-659, 2004.
2. D. Scaramuzza and F. Fraundorfer, "Visual odometry tutorial," Robotics Automation Magazine, IEEE, vol. 18, no. 4, pp. 80 -92, dec. 2011.
3. C. N. Taylor, "Improved fusion of visual measurements through explicit modeling of outliers," Position Location and Navigation Symposium (PLANS), IEEE/ION, 2012.
4. M. A. Fischler and R. C. Bolles, "Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography," Commun. ACM, vol. 24, no. 6, pp. 381-395, Jun. 1981. Available: http://doi.acm.org/10.1145/358669.358692
5. M. Agrawal and K. Konolige, "Rough terrain visual odometry," Proceedings of the International Conference on Advanced Robotics (ICAR), August 2007.
6. B. Kitt, A. Geiger, and H. Lategahn, "Visual odometry based on stereo image sequences with ransac-based outlier rejection scheme," in IEEE Intelligent Vehicles Symposium, San Diego, USA, June 2010.
7. K. Konolige, M. Agrawal, and J. Sol, "Large scale visual odometry for rough terrain," in In Proc. International Symposium on Robotics Research, 2007.
8. R. Subbarao, Y. Genc, and P. Meer, "Nonlinear mean shift for robust pose estimation," in Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision, ser. WACV '07. Washington, DC, USA: IEEE Computer Society, 2007, pp. 6-. Available: http://dx.doi.org/10.1109/WACV.2007. 44
9. E. Tola and A. A. Alatan, "Fast outlier rejection by using parallax-based rigidity constraint for epipolar geometry estimation," in Proceedings of the 2006 international conference on Multimedia Content Representation, Classification and Security, ser. MRCS'06. Berlin, Heidelberg: Springer-Verlag, 2006, pp. 578-585.
10. R. Jiang, R. Klette, and S. Wang, "Modeling of unbounded long-range drift in visual odometry," in Proceedings of the 2010 Fourth Pacific- Rim Symposium on Image and Video Technology, ser. PSIVT '10. Washington, DC, USA: IEEE Computer Society, 2010, pp. 121-126. Available: http://dx.doi.org/10.1109/ PSIVT.2010.27
11. M. Veth and J. Raquet, "Fusion of low-cost imaging and inertial sensors for navigation," Air Force Institute of Technology, Tech. Rep., 2007.
12. J. Jurado, K. Fisher, and M. Veth, "Inertial and imaging sensor fusion for image-aided navigation with affine distortion prediction," in Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION, april 2012, pp. 518 -526.
13. J.-O. Nilsson, D. Zachariah, M. Jansson, and P. Handel, "Realtime implementation of visual-aided inertial navigation using epipolar constraints," in Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION, april 2012, pp. 711 -718.
14. D. D. Diel, P. DeBitetto, and S. Teller, "Epipolar constraints for visionaided inertial navigation," in In EEE Workshop on Motion and Video Computing, 2005, pp. 221-228.
15. J.-P. Tardif, M. D. George, M. Laverne, A. Kelly, and A. Stentz, "A new approach to vision-aided inertial navigation." in IROS. IEEE, 2010, pp. 4161-4168.
16. S. Roumeliotis, A. Johnson, and J. Montgomery, "Augmenting inertial navigation with image-based motion estimation," in Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, vol. 4, 2002, pp. 4326 - 4333 vol.4.
17. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. New York, NY, USA: Cambridge University Press, 2003.
18. A. Geiger, J. Ziegler, and C. Stiller, "Stereoscan: Dense 3d reconstruction in real-time," in IEEE Intelligent Vehicles Symposium, Baden- Baden, Germany, June 2011.
19. R. G. Brown and P. Y. C. Hwang, Introduction to random signals and applied kalman filtering. New York, NY: Wiley, 1997.
20. D. Titterton, J. Weston, and I. of Electrical Engineers, Strapdown Inertial Navigation Technology, ser. Iee Radar Series. Institution of Electrical Engineers, 2004. Available: http://books.google.com.tr/booksid=WwrCrn54n5cC
21. J. Farell, "Carrier phase processing without integers," in ION 57th Annual Meeting, 2001.
22. J. Wendel and G. F. Trommer, "Tightly coupled gps/ins integration for missile applications," Aerospace Science and Technology, vol. 8, pp. 627-634, 2004.
23. P. Huber, Robust statistics. John Wiley &Sons, 2003.