Title: Planar Pose Estimation using a Camera and Single-Station Ranging Measurements
Author(s): Chen Zhu, Gabriele Giorgi, Christoph Günther
Published in: Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017)
September 25 - 29, 2017
Oregon Convention Center
Portland, Oregon
Pages: 2531 - 2540
Cite this article: Zhu, Chen, Giorgi, Gabriele, Günther, Christoph, "Planar Pose Estimation using a Camera and Single-Station Ranging Measurements," Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 2531-2540.
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Abstract: Cameras are widely used for localization and navigation in GNSS-denied environments. By exploiting VSLAM (Visual Simultaneous Localization and Mapping) techniques, vehicles equipped with cameras are capable of estimating their own trajectories and simultaneously building a map of the surrounding environment. Due to constraints on payload size, weight, and costs, many VSLAM applications must be based on a single camera. However, the associated monocular estimation of the vehicle trajectory and the map is ambiguous by a scale factor. The purpose of this work is to show how the correct scale factor can be estimated in planar motion cases by exploiting range measurements from a single station. The proposed method is independent of the VSLAM algorithm used for ego-motion estimation of the vehicle.