Navigation by images

“Navigation by images”

Authors: Espen Hagen and Eilert Heyerdahl,
Affiliation: Norwegian Defence Research Establishment (FFI)
Reference: 1993, Vol 14, No 3, pp. 133-143.

Keywords: Autonomous navigation, computer vision, optical flow, Kalman filters

Abstract: A new navigation method based on measurements of image tokens and Kalman filtering is presented. An image token is the central projection of a landmark, a point on the terrain surface. This surface being described by an elevation map, a Kalman filter processes the measurements to update estimates of camera position and orientation, and landmarks. The method has been implemented for off-line simulations of aeroplane navigation. Preliminary tests indicate a performance at least comparable to that of satellite navigation systems. The implemented algorithm also seems to have high tolerance against noise and modeling errors.

PDF

PDF (2020 Kb) DOI: 10.4173/mic.1993.3.2

DOI forward links to this article:

[1] Laura Ruotsalainen and Heidi Kuusniemi (2012), doi:10.4018/978-1-4666-1827-5.ch006

[2] Laura Ruotsalainen and Heidi Kuusniemi (2013), doi:10.4018/978-1-4666-3994-2.ch030

[3] Takayuki Hoshizaki, Dominick Andrisani, Aaron Braun, Ade Mulyana and James Bethel (2003), doi:10.2514/6.2003-5353

[4] T. HOSHIZAKI, D. ANDRISANI, A. W. BRAUN, A. K. MULYANA and J. S. BETHEL (2004), doi:10.1002/j.2161-4296.2004.tb00344.x

[5] GEORGE H. KAPLAN (2011), doi:10.1002/j.2161-4296.2011.tb02580.x

[6] Baheerathan Sivalingam, Ove Kent Hagen, Charles M. Shoemaker, Robert E. Karlsen, Douglas W. Gage and Hoa G. Nguyen (2018), doi:10.1117/12.2301229

References:
[1] AGUIRRE, F., BOUCHER, J.M., JACQ, J.J. (1990). Underwater navigation by video sequence analysis, Proceedings 10th ICPR, Atlantic City, NJ, 537-539.
[2] BLACKMAN, C.P. (1991). Robot vision for an autonomous land vehicle, Proceedings NATO DRG Seminar on Battlefield Robotics, Paris, France, 1991,330-341.
[3] DICKMANNS, E.D. (1988). An integrated approach to feature based dynamic vision, Proceedings CVPR ´88, Ann Arbor, Mich., 820-825.
[4] GELB, A. (ed.) (1974). Applied Optimal Estimation, M.I.T. Press, Cambridge, Mass.
[5] HAGEN, E. (1992). BASIS image based navigation - method, implementation and results, in Norwegian. FFI/Rapport-92/4008, NDRE.
[6] HAGEN, E. HEYERDAHL, E. (1991). On algebraic solutions to the navigation problem, in Norwegian. Internal notes and discussions, NDRE.
[7] HEYERDAHL, E. (1991). Circle integrals - simple, noise robust, translation and rotation invariant features, in Norwegian. Proceedings NOBIM 1991, Skedsmo, Norway, 43-50.
[8] HORN, B.K.P. SCHUNK, B.G. (1981). Determining optical flow, Artificial Intelligence, 17, 185-203 doi:10.1016/0004-3702(81)90024-2
[9] TSAI, R.Y. HUANG, T.S. (1984). Uniqueness and estimation of three-dimensional motion parameters of rigid objects with curved surfaces, IEEE Transactions on Pattern Analysis and Machine Intelligence, 6, 13-27 doi:10.1109/TPAMI.1984.4767471
[10] ZINNER, H., SCHMIDT, R. WOLF, D. (1989). Navigation of autonomous air vehicles by passive imaging sensors, Guidance and Control of Unmanned Air Vehicles, AGARD Conference Proceedings No. 436, 34:1-14.

BibTeX:
@article{MIC-1993-3-2,
  title={{Navigation by images}},
  author={Hagen, Espen and Heyerdahl, Eilert},
  journal={Modeling, Identification and Control},
  volume={14},
  number={3},
  pages={133--143},
  year={1993},
  doi={10.4173/mic.1993.3.2},
  publisher={Norwegian Society of Automatic Control}
};

Article

“Navigation by images”