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

Dusha, Damien & Mejias, Luis (2012) Error analysis and attitude observability of a monocular GPS/visual odometry integrated navigation filter. The International Journal of Robotics Research, 31(6), pp. 714-737.

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Abstract

In this paper, we present a method for the recovery of position and absolute attitude (including pitch, roll and yaw) using a novel fusion of monocular Visual Odometry and GPS measurements in a similar manner to a classic loosely-coupled GPS/INS error state navigation filter. The proposed filter does not require additional restrictions or assumptions such as platform-specific dynamics, map-matching, feature-tracking, visual loop-closing, gravity vector or additional sensors such as an IMU or magnetic compass.

An observability analysis of the proposed filter is performed, showing that the scale factor, position and attitude errors are fully observable under acceleration that is non-parallel to velocity vector in the navigation frame. The observability properties of the proposed filter are demonstrated using numerical simulations.

We conclude the article with an implementation of the proposed filter using real flight data collected from a Cessna 172 equipped with a downwards-looking camera and GPS, showing the feasibility of the algorithm in real-world conditions.

Impact and interest:

4 citations in Scopus
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4 citations in Web of Science®

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151 since deposited on 21 Oct 2011
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ID Code: 46549
Item Type: Journal Article
Keywords: Visual Odometry, GPS measurements, position and absolute attitude
DOI: 10.1177/0278364911433777
ISSN: 1741-3176
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Simulation and Modelling (080110)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > GEOMATIC ENGINEERING (090900) > Navigation and Position Fixing (090904)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2011 Sage
Deposited On: 21 Oct 2011 10:26
Last Modified: 23 Sep 2014 18:07

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