کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413437 | 680507 | 2012 | 19 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Distributed vision-aided cooperative localization and navigation based on three-view geometry Distributed vision-aided cooperative localization and navigation based on three-view geometry](/preview/png/413437.png)
This paper presents a new method for distributed vision-aided cooperative localization and navigation for multiple inter-communicating autonomous vehicles based on three-view geometry constraints. Each vehicle is equipped with a standard inertial navigation system and an on-board camera only. In contrast to the traditional approach for cooperative localization, which is based on relative pose measurements, the proposed method formulates a measurement whenever the same scene is observed by different vehicles. Each such measurement is comprising of three images, which are not necessarily captured at the same time. The captured images, to which some navigation parameters are attached, are stored in repositories by some of the vehicles in the group. A graph-based approach is applied for calculating the correlation terms between the navigation parameters associated to images participating in the same measurement. The proposed method is examined using a statistical simulation and is further validated in an experiment that involved two vehicles in a holding pattern scenario. The experiments show that the cooperative three-view-based vision-aided navigation may considerably improve the performance of an inferior INS.
► A new method for vision-based cooperative navigation aiding is proposed.
► Three views of an unknown scene are required for navigation aiding.
► The views can be captured by different vehicles, not necessarily at the same time.
► Position errors in all axes are reduced, without assuming range information.
► Other navigation states are also partially estimated.
Journal: Robotics and Autonomous Systems - Volume 60, Issue 6, June 2012, Pages 822–840