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Inertial aided monocular SLAM for GPS-denied navigation

 
: Kleinert, M.; Schleith, S.

:

Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2010 : Salt Lake City, Utah, USA, 5-7 September 2010
New York, NY: IEEE, 2010
ISBN: 978-1-4244-5424-2
ISBN: 978-1-4244-5425-9
ISBN: 978-1-4244-5426-6
S.20-25
International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) <2010, Salt Lake City/Utah>
Englisch
Konferenzbeitrag
Fraunhofer IOSB ()

Abstract
This paper addresses the problem of navigation in GPS-denied scenarios using a low-cost inertial measurement unit (IMU) and monocular video data. It is shown how the standard error state Kalman-Filter approach for GPS-INS integration can be extended to take advantage of imagery measurements by augmenting the filter state with the coordinates of landmarks in inverse depth parameterization. This yields a robust monocular SLAM algorithm that computes the desired navigation solution and a sparse feature map at the same time and is suitable for real-time operation. Results are presented which demonstrate the applicability of this approach for indoor and outdoor scenarios.

: http://publica.fraunhofer.de/dokumente/N-188616.html