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“Navigation by images”

Authors: Espen Hagen and Eilert Heyerdahl,
Affiliation: Norwegian Defence Research Establishment (FFI)
Reference: 1993, Vol 14, No 3, pp. 133-143.

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Keywords: Autonomous navigation, computer vision, optical flow, Kalman filters

Abstract: A new navigation method based on measurements of image tokens and Kalman filtering is presented. An image token is the central projection of a landmark, a point on the terrain surface. This surface being described by an elevation map, a Kalman filter processes the measurements to update estimates of camera position and orientation, and landmarks. The method has been implemented for off-line simulations of aeroplane navigation. Preliminary tests indicate a performance at least comparable to that of satellite navigation systems. The implemented algorithm also seems to have high tolerance against noise and modeling errors.

PDF PDF (2020 Kb)        DOI: 10.4173/mic.1993.3.2

DOI forward links to this article:
  [1] Laura Ruotsalainen and Heidi Kuusniemi (2012), doi:10.4018/978-1-4666-1827-5.ch006
  [2] Laura Ruotsalainen and Heidi Kuusniemi (2013), doi:10.4018/978-1-4666-3994-2.ch030
  [3] Takayuki Hoshizaki, Dominick Andrisani, Aaron Braun, Ade Mulyana and James Bethel (2003), doi:10.2514/6.2003-5353
  [4] T. HOSHIZAKI, D. ANDRISANI, A. W. BRAUN, A. K. MULYANA and J. S. BETHEL (2004), doi:10.1002/j.2161-4296.2004.tb00344.x
  [5] GEORGE H. KAPLAN (2011), doi:10.1002/j.2161-4296.2011.tb02580.x
  [6] Baheerathan Sivalingam, Ove Kent Hagen, Charles M. Shoemaker, Robert E. Karlsen, Douglas W. Gage and Hoa G. Nguyen (2018), doi:10.1117/12.2301229

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  title={{Navigation by images}},
  author={Hagen, Espen and Heyerdahl, Eilert},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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