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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, 2020-04-20 - 2020-04-23, USA. doi: 10.1109/plans46316.2020.9109919. ISBN 978-172810244-3. ISSN 2153-3598.
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Abstract
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/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Quantifying Feature Association Error in Camera-based Positioning | ||||||||||||||||
| Authors: |
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| Date: | 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 SCOPUS: | Yes | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/plans46316.2020.9109919 | ||||||||||||||||
| ISSN: | 2153-3598 | ||||||||||||||||
| ISBN: | 978-172810244-3 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| 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 | ||||||||||||||||
| Event Start Date: | 20 April 2020 | ||||||||||||||||
| Event End Date: | 23 April 2020 | ||||||||||||||||
| 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: | 08 Aug 2025 10:21 |
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