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Pregled bibliografske jedinice broj: 717209

Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations

Sazdovski, Vasko; Kitanov, Andrej; Petrović, Ivan
Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations // Aerospace science and technology, 40 (2015), 33-46 doi:10.1016/j.ast.2014.09.019 (međunarodna recenzija, članak, znanstveni)

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Naslov
Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations

Autori
Sazdovski, Vasko ; Kitanov, Andrej ; Petrović, Ivan

Izvornik
Aerospace science and technology (1270-9638) 40 (2015); 33-46

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Aerial vehicles; Autonomous navigation; Inertial Navigation; Vision; Vector Observations; Observation model; Extended Kalman filter

Sažetak
Future smaller and maneuverable aerial vehicles have a need of high levels of autonomy and independence. This gives rise to the necessity for integrated navigation systems that supply reliable and accurate navigation parameters (position, velocity and attitude) in small and cost effective manner. In this paper we propose a new solution that provides aiding information to Inertial Navigation from pure vision means. Using single video camera and with no a priori knowledge of the environment we show that, it is possible to constrain the Inertial Navigation position, velocity and attitude divergence while moving in vicinity of a map point. Novel observation model of implicit form is developed and used in the paper. It is shown that such an integrated navigation system has a need for further integration with the guidance and control measurements and the vehicle motion to achieve better navigation accuracy.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA

Projekti:
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
ACROSS

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Andrej Kitanov (autor)

Avatar Url Ivan Petrović (autor)

Poveznice na cjeloviti tekst rada:

doi dx.doi.org www.sciencedirect.com

Citiraj ovu publikaciju:

Sazdovski, Vasko; Kitanov, Andrej; Petrović, Ivan
Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations // Aerospace science and technology, 40 (2015), 33-46 doi:10.1016/j.ast.2014.09.019 (međunarodna recenzija, članak, znanstveni)
Sazdovski, V., Kitanov, A. & Petrović, I. (2015) Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations. Aerospace science and technology, 40, 33-46 doi:10.1016/j.ast.2014.09.019.
@article{article, author = {Sazdovski, Vasko and Kitanov, Andrej and Petrovi\'{c}, Ivan}, year = {2015}, pages = {33-46}, DOI = {10.1016/j.ast.2014.09.019}, keywords = {Aerial vehicles, Autonomous navigation, Inertial Navigation, Vision, Vector Observations, Observation model, Extended Kalman filter}, journal = {Aerospace science and technology}, doi = {10.1016/j.ast.2014.09.019}, volume = {40}, issn = {1270-9638}, title = {Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations}, keyword = {Aerial vehicles, Autonomous navigation, Inertial Navigation, Vision, Vector Observations, Observation model, Extended Kalman filter} }
@article{article, author = {Sazdovski, Vasko and Kitanov, Andrej and Petrovi\'{c}, Ivan}, year = {2015}, pages = {33-46}, DOI = {10.1016/j.ast.2014.09.019}, keywords = {Aerial vehicles, Autonomous navigation, Inertial Navigation, Vision, Vector Observations, Observation model, Extended Kalman filter}, journal = {Aerospace science and technology}, doi = {10.1016/j.ast.2014.09.019}, volume = {40}, issn = {1270-9638}, title = {Implicit Observation Model for Vision Aided Inertial Navigation of Aerial Vehicles Using Single Camera Vector Observations}, keyword = {Aerial vehicles, Autonomous navigation, Inertial Navigation, Vision, Vector Observations, Observation model, Extended Kalman filter} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus

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