A System for Evaluating Vision-aided Navigation Uncertainty

Erik Rodenburgh and Clark Taylor

Abstract: To enable the fusion of multiple different navigation solutions, accurate uncertainty information about each input navigation solution must be known. Therefore, it is beneficial to study the uncertainty of each possible navigation solution and ensure it generates predicted uncertainty estimates that comport with reality. In the past, studies of uncertainty in vision-aided navigation have primarily been conducted in simulation. In this paper, we present a system that can enable researchers to study the uncertainty of vision-aided navigation systems by generating a large quantity of data with associated “truth”.
Published in: Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020)
September 21 - 25, 2020
Pages: 2272 - 2280
Cite this article: Rodenburgh, Erik, Taylor, Clark, "A System for Evaluating Vision-aided Navigation Uncertainty," Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020), , September 2020, pp. 2272-2280.
https://doi.org/10.33012/2020.17587
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