TY - GEN
T1 - Quantifying Feature Association Error in Camera-based Positioning
AU - Zhu, Chen
AU - Joerger, Mathieu
AU - Meurer, Michael
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/4
Y1 - 2020/4
N2 - Camera-based visual navigation techniques can provide six degrees-of-freedom estimates of position and orientation (or pose), and can be implemented at low cost in applications including autonomous driving, indoor positioning, and drone landing. However, feature matching errors may occur when associating measured features in camera images with mapped features in a landmark database, especially when repetitive patterns are in view. A typical example of repetitive patterns is that of regularly spaced windows on building walls. Quantifying the data association risk and its impact on navigation system integrity is essential in safety critical applications. But, literature on vision-based navigation integrity is sparse. This work aims at quantifying and bounding the integrity risk caused by incorrect associations in visual navigation using extended Kalman filters.
AB - Camera-based visual navigation techniques can provide six degrees-of-freedom estimates of position and orientation (or pose), and can be implemented at low cost in applications including autonomous driving, indoor positioning, and drone landing. However, feature matching errors may occur when associating measured features in camera images with mapped features in a landmark database, especially when repetitive patterns are in view. A typical example of repetitive patterns is that of regularly spaced windows on building walls. Quantifying the data association risk and its impact on navigation system integrity is essential in safety critical applications. But, literature on vision-based navigation integrity is sparse. This work aims at quantifying and bounding the integrity risk caused by incorrect associations in visual navigation using extended Kalman filters.
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U2 - 10.1109/PLANS46316.2020.9109919
DO - 10.1109/PLANS46316.2020.9109919
M3 - Conference contribution
AN - SCOPUS:85087052732
T3 - 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
SP - 967
EP - 972
BT - 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
Y2 - 20 April 2020 through 23 April 2020
ER -