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Session C5: Vision, Radar and Lidar-Based Navigation System

Comparative Analysis of Vision-Based Navigation Performance According to Feature Point Placement in Cooperative Scenarios
Jiyeon Lee, Hyeongseob Shin, Dongyeon Park, and Sangkyung Sung, Konkuk University
Location: Grand Ballroom IJ
Date/Time: Thursday, May. 1, 10:40 a.m.

This paper proposes a camera sensor-based navigation filter for a cooperative scenario. The concept of Dilution of Precision (DOP) was also applied to analyze the impact of feature point arrangement on navigation performance. We investigated the relationship between feature point arrangement and navigation error levels through simulations and experiments. An experiment was conducted with Unmanned Ground Vehicle (UGV), which was equipped with IMU, and a camera sensor to obtain data. A straight-line driving scenario of approximately 5 meters in a low-light environment was assumed. Optitrack, an optical motion capture device, was used as reference data.
Keywords—Camera, INS, Rendezvous and Docking, Navigation, Feature Points

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