Paper Info
Title
Error analysis and attitude observability of a monocular GPS/visual odometry integrated navigation filter
Abstract
In this paper, we present a method for the recovery of position and absolute attitude (including pitch, roll and yaw) using a novel fusion of monocular visual odometry and GPS measurements in a similar manner to a classic loosely coupled GPS/INS error state navigation filter. The proposed filter does not require additional restrictions or assumptions such as platform-specific dynamics, map matching, feature tracking, visual loop closing, gravity vector or additional sensors such as an inertial measurement unit or magnetic compass. An observability analysis of the proposed filter is performed, showing that the scale factor, position and attitude errors are fully observable under acceleration that is non-parallel to the velocity vector in the navigation frame. The observability properties of the proposed filter are demonstrated using numerical simulations. We conclude the article with an implementation of the proposed filter using real flight data collected from a Cessna 172 equipped with a downwards-looking camera and GPS, showing the feasibility of the algorithm in real-world conditions.
Year
DOI
Venue
2012
10.1177/0278364911433777
The International Journal of Robotics Research
Keywords
Field
DocType
GPS,visual odometry,attitude,observability,error analysis
Computer vision,Observability,Compass,Visual odometry,Control theory,GPS/INS,Odometry,Global Positioning System,Inertial measurement unit,Artificial intelligence,Acceleration,Geography
Journal
Volume
Issue
ISSN
31
6
0278-3649
Citations 
PageRank 
References 
7
0.75
17
Authors
2
Name
Order
Citations
PageRank
Damien Dusha1201.99
Luis Mejias214315.42