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Zhu, Chen und Joerger, Mathieu und Meurer, Michael (2020) Quantifying Feature Association Error in Camera-based Positioning. In: 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020. IEEE/ION Position Location and Navigation Symposium 2020, 2020-04-20 - 2020-04-23, USA. doi: 10.1109/plans46316.2020.9109919. ISBN 978-172810244-3. ISSN 2153-3598.
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Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/135250/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | Quantifying Feature Association Error in Camera-based Positioning | ||||||||||||||||
| Autoren: |
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| Datum: | 2020 | ||||||||||||||||
| Erschienen in: | 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020 | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||
| DOI: | 10.1109/plans46316.2020.9109919 | ||||||||||||||||
| ISSN: | 2153-3598 | ||||||||||||||||
| ISBN: | 978-172810244-3 | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | visual navigation; feature association; error quantification; integrity; feature matching error; EKF | ||||||||||||||||
| Veranstaltungstitel: | IEEE/ION Position Location and Navigation Symposium 2020 | ||||||||||||||||
| Veranstaltungsort: | USA | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 20 April 2020 | ||||||||||||||||
| Veranstaltungsende: | 23 April 2020 | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Luftfahrt | ||||||||||||||||
| HGF - Programmthema: | Luftverkehrsmanagement und Flugbetrieb | ||||||||||||||||
| DLR - Schwerpunkt: | Luftfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | L AO - Air Traffic Management and Operation | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | L - Kommunikation, Navigation und Überwachung (alt) | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Navigation | ||||||||||||||||
| Hinterlegt von: | Zhu, Chen | ||||||||||||||||
| Hinterlegt am: | 10 Jun 2020 18:52 | ||||||||||||||||
| Letzte Änderung: | 07 Jun 2024 11:23 |
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- Quantifying Feature Association Error in Camera-based Positioning. (deposited 10 Jun 2020 18:52) [Gegenwärtig angezeigt]
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