Integration of Video Camera with 2D Laser Scanner for 3D Navigation

Andrey Soloviev, Nicholas Gans, Maarten Uijt de Haag

Abstract:	Fusion of video images with 2D laser scanner data and an inertial navigation system (INS) is proposed for robust navigation in Global Positioning System (GPS)-denied environments. Laser scan data are used to initialize three-dimensional (3D) tracking of stationary features and to enhance the feature tracking performance. Changes in feature parameters between images are used for navigation. Inertial data are used to perform robust feature matching between images, to enhance feature-tracking performance, and to coast through environment where not enough features are observed. Simulation results and initial experimental results are presented to demonstrate the feasibility of the Vision/Laser/Inertial Navigation System (INS) integrated solution.
Published in:	Proceedings of the 2009 International Technical Meeting of The Institute of Navigation January 26 - 28, 2009 Disney's Paradise Pier Hotel Anaheim, CA
Pages:	767 - 776
Cite this article:	Soloviev, Andrey, Gans, Nicholas, de Haag, Maarten Uijt, "Integration of Video Camera with 2D Laser Scanner for 3D Navigation," Proceedings of the 2009 International Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2009, pp. 767-776.
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