Error Analysis for a Navigation Algorithm based on Optical-Flow and a Digital Terrain Map

Oleg Kupervasser, Ronen Lerner and Ehud Rivlin

Abstract:	The paper deals with the error analysis of a navigation algorithm that uses as input a sequence of images acquired by a moving camera and a Digital Terrain Map (DTM) of the region been imaged by the camera during the motion. The main sources of error are more or less straightforward to identify: camera resolution, structure of the observed terrain and DTM accuracy, field of view and camera trajectory. After characterizing and modeling these error sources in the framework of the CDTM algorithm, a closed form expression for their effect on the pose andmotion errors of the camera can be found. The analytic expression provides a priori measurements for the accuracy in terms of the parameters mentioned above.
Published in:	Proceedings of IEEE/ION PLANS 2008 May 6 - 8, 2008 Hyatt Regency Hotel Monterey, CA
Pages:	1203 - 1212
Cite this article:	Kupervasser, Oleg, Lerner, Ronen, Rivlin, Ehud, "Error Analysis for a Navigation Algorithm based on Optical-Flow and a Digital Terrain Map," Proceedings of IEEE/ION PLANS 2008, Monterey, CA, May 2008, pp. 1203-1212. https://doi.org/10.1109/PLANS.2008.4570040
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