Six Degrees-of-freedom Dilution of Precision for Integrity of Camera-based Localization

Chen Zhu, Christian Steinmetz, Boubeker Belabbas, and Michael Meurer

Abstract: Camera-based visual navigation techniques are capable of providing high precision localization solution, and play an important role in challenging urban environments, e.g., indoor or urban canyons, where satellite navigation has significantly degraded performance. For safety critical applications, the integrity monitoring of visual navigation methods is necessary. In order to calculate the localization error for integrity measures such as protection level, it is essential to investigate the geometric impacts. The dilution of precision concept from satellite navigation can be analogized to camera sensors. However, according to the measurement model of cameras, the attitude of the camera has influences on the uncertainty of the position estimates, and vice versa. This work investigates the geometric impact on camera-based localization by using a six degrees-of-freedom dilution of precision including both position and attitude. The attitude is parameterized using Rodrigues parameters instead of Euler angles to avoid Gimbal lock. The geometric impact is analyzed in different scenarios using real images.
Published in: Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)
September 16 - 20, 2019
Hyatt Regency Miami
Miami, Florida
Pages: 3175 - 3184
Cite this article: Zhu, Chen, Steinmetz, Christian, Belabbas, Boubeker, Meurer, Michael, "Six Degrees-of-freedom Dilution of Precision for Integrity of Camera-based Localization," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 3175-3184.
https://doi.org/10.33012/2019.17020
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