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IPS – a vision aided navigation system

Börner, Anko and Baumbach, Dirk and Buder, Maximilian and Choinowski, Andre and Ernst, Ines and Funk, Eugen and Grießbach, Denis and Schischmanow, Adrian and Wohlfeil, Jürgen and Zuev, Sergey (2017) IPS – a vision aided navigation system. Advanced Optical Technologies, 6 (2), pp. 121-130. de Gruyter. ISSN 2192-8576

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Official URL: https://www.degruyter.com/view/j/aot.2017.6.issue-2/issue-files/aot.2017.6.issue-2.xml


Ego localization is an important prerequisite for several scientific, commercial, and statutory tasks. Only by knowing one’s own position, can guidance be provided, inspections be executed, and autonomous vehicles be operated. Localization becomes challenging if satellite-based navigation systems are not available, or data quality is not sufficient. To overcome this problem, a team of the German Aerospace Center (DLR) developed a multi-sensor system based on the human head and its navigation sensors – the eyes and the vestibular system. This system is called integrated positioning system (IPS) and contains a stereo camera and an inertial measurement unit for determining an ego pose in six degrees of freedom in a local coordinate system. IPS is able to operate in real time and can be applied for indoor and outdoor scenarios without any external reference or prior knowledge. In this paper, the system and its key hardware and software components are introduced. The main issues during the development of such complex multi-sensor measurement systems are identified and discussed, and the performance of this technology is demonstrated. The developer team started from scratch and transfers this technology into a commercial product right now. The paper finishes with an outlook.

Item URL in elib:https://elib.dlr.de/111874/
Document Type:Article
Title:IPS – a vision aided navigation system
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Börner, AnkoAnko.Boerner (at) dlr.deUNSPECIFIED
Baumbach, DirkDirk.Baumbach (at) dlr.deUNSPECIFIED
Buder, MaximilianMaximilian.Buder (at) dlr.deUNSPECIFIED
Choinowski, AndreAndre.Choinowski (at) dlr.deUNSPECIFIED
Ernst, InesInes.Ernst (at) dlr.deUNSPECIFIED
Funk, EugenEugen.Funk (at) dlr.deUNSPECIFIED
Grießbach, Denisdenis.griessbach (at) dlr.deUNSPECIFIED
Schischmanow, AdrianAdrian.schischmanow (at) dlr.deUNSPECIFIED
Wohlfeil, Jürgenjuergen.wohlfeil (at) dlr.deUNSPECIFIED
Zuev, SergeySergey.Zuev (at) dlr.deUNSPECIFIED
Date:25 March 2017
Journal or Publication Title:Advanced Optical Technologies
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 121-130
Pfeffer, MichaelUNSPECIFIED
Tholl, Hans-DieterUNSPECIFIED
Hübers, Heinz-WilhelmDLR, Institut für Optische Sensorsysteme
Publisher:de Gruyter
Series Name:Photonics in Security Systems
Keywords:camera; computer vision; inertial measurement unit; localization; navigation.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old), R - Project Morex
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Information Processing for Optical Systems
Deposited By: Börner, Anko
Deposited On:11 Apr 2017 08:01
Last Modified:14 Dec 2019 04:24

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