Simulation study of homography-based vision-aided inertial navigation for aerial vehicles
ICCA（2014）
摘要
This research proposes a novel scheme for vision-aided inertial navigation based on planar homography. By exploiting the multiplicative group property of homography matrices, extended Kalman filter-based vision aiding is formulated with a measurement model of the group difference between image-estimated and navigation homographies. A simple compensation for depth distortion of the homography matrix is also proposed, and shown to be effective in simulation.
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关键词
image-estimated homographies,measurement model,extended kalman filter-based vision aiding,kalman filters,depth distortion,aerial vehicles,aircraft navigation,matrix algebra,planar homography,navigation homographies,group difference,homography matrix,computer vision,multiplicative group property,homography-based vision-aided inertial navigation,aircraft control,inertial navigation,nonlinear filters,mathematical model,navigation,measurement uncertainty,noise
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