Camera-aided Inertial Navigation using Epipolar Points

D. Zachariah, M. Jansson

Abstract:	Due to the rapid error growth of navigation systems using low-cost inertial measurement units there is a need to fuse the information with complementary sensors. In this paper a monocular camera is used to aid the system. Unlike SLAM-like approaches the problem of estimating the location of each feature point viewed in a scene is avoided, instead estimated epipolar points on the image plane are used. By maintaining a buffer of past views, the method mimics a short-term visual memory which imposes multiple constraints on the estimation problem. The result is a Sigma-Point Kalman filter in square-root form with a linear and efficient time-update. A simulation study is presented indicating the filter’s capacity to constrain the rate of error growth of an inertial navigation system. The filter may also find useful applications when fusing with additional sensors.
Published in:	Proceedings of IEEE/ION PLANS 2010 May 4 - 6, 2010 Renaissance Esmeralda Resort & Spa Indian Wells, CA
Pages:	303 - 309
Cite this article:	Zachariah, D., Jansson, M., "Camera-aided Inertial Navigation using Epipolar Points," Proceedings of IEEE/ION PLANS 2010, Indian Wells, CA, May 2010, pp. 303-309. https://doi.org/10.1109/PLANS.2010.5507246
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