Comparative Analysis of Vision-Based Navigation Performance According to Feature Point Placement in Cooperative Scenarios

Jiyeon Lee, Hyeongseob Shin, Dongyeon Park, and Sangkyung Sung

Peer Reviewed

Abstract:	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
Published in:	2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 28 - 1, 2025 Salt Lake Marriott Downtown at City Creek Salt Lake City, UT
Pages:	900 - 906
Cite this article:	Lee, Jiyeon, Shin, Hyeongseob, Park, Dongyeon, Sung, Sangkyung, "Comparative Analysis of Vision-Based Navigation Performance According to Feature Point Placement in Cooperative Scenarios," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), Salt Lake City, UT, April 2025, pp. 900-906.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In