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Simulation Framework for a Visual-Inertial Navigation System

Irmisch, Patrick and Baumbach, Dirk and Ernst, Ines and Börner, Anko (2019) Simulation Framework for a Visual-Inertial Navigation System. In: Proceedings - 2019 IEEE International Conference on Image Processing (ICIP), pp. 1995-1999. IEEE. 2019 IEEE International Conference on Image Processing (ICIP), 22.–25. Sep. 2019, Taipei, Taiwan. DOI: 10.1109/ICIP.2019.8803187

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Official URL: https://ieeexplore.ieee.org/document/8803187


The ability to test methods based on simulated data is an important component in the development of intelligent localization systems at the present time. This includes the replication of realistic environments and sensors on the one hand. On the other hand, an implementation of a correct movement profile of the target mobile platform is required. This is complicated by the large variety of possible platform variants. We propose a method to transfer movement profiles that have been recorded in real world into a simulation environment. The associated modular simulation framework was designed especially, but not limiting, for the development of visual-inertial odometry of a handheld navigation system. We demonstrate the application of our pipeline through an experiment to determine the influence of motion blur on the visual odometry component.

Item URL in elib:https://elib.dlr.de/132613/
Document Type:Conference or Workshop Item (Poster)
Title:Simulation Framework for a Visual-Inertial Navigation System
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Irmisch, PatrickPatrick.Irmisch (at) dlr.deUNSPECIFIED
Baumbach, DirkDirk.Baumbach (at) dlr.deUNSPECIFIED
Ernst, InesInes.Ernst (at) dlr.deUNSPECIFIED
Börner, AnkoAnko.Boerner (at) dlr.deUNSPECIFIED
Journal or Publication Title:Proceedings - 2019 IEEE International Conference on Image Processing (ICIP)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/ICIP.2019.8803187
Page Range:pp. 1995-1999
Keywords:visual-inertial odometry, simulation framework, motion profile, rendering, motion blur
Event Title:2019 IEEE International Conference on Image Processing (ICIP)
Event Location:Taipei, Taiwan
Event Type:international Conference
Event Dates:22.–25. Sep. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Earth Observation
DLR - Research area:Raumfahrt
DLR - Program:R EO - Erdbeobachtung
DLR - Research theme (Project):R - Vorhaben Optische Sensorik - Theorie, Kalibration, Verifikation, R - Vorhaben Optische Technologien und Anwendungen, V - NGC KoFiF
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Baumbach, Dirk
Deposited On:16 Dec 2019 08:57
Last Modified:16 Dec 2019 08:57

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