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Quantifying Feature Association Error in Camera-based Positioning

Zhu, Chen and Joerger, Mathieu and 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, USA. doi: 10.1109/plans46316.2020.9109919. ISBN 978-172810244-3. ISSN 2153-3598.

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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.

Item URL in elib:https://elib.dlr.de/135250/
Document Type:Conference or Workshop Item (Speech)
Title:Quantifying Feature Association Error in Camera-based Positioning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Zhu, ChenUNSPECIFIEDhttps://orcid.org/0000-0002-4320-4826UNSPECIFIED
Meurer, MichaelUNSPECIFIEDhttps://orcid.org/0000-0001-7465-6705UNSPECIFIED
Date:10 June 2020
Journal or Publication Title:2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:visual navigation; feature association; error quantification; integrity; feature matching error; EKF
Event Title:IEEE/ION Position Location and Navigation Symposium 2020
Event Location:USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:air traffic management and operations
DLR - Research area:Aeronautics
DLR - Program:L AO - Air Traffic Management and Operation
DLR - Research theme (Project):L - Communication, Navigation and Surveillance (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Zhu, Chen
Deposited On:10 Jun 2020 18:52
Last Modified:24 Jul 2023 08:53

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