Abstract
In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.
Highlights
The objective of a moving platform is to provide accurate information for moving platforms, e.g., a land vehicle, an airplane, or aircraft in space, when a global positioning system (GPS) or an inertial measurement unit (IMU) is not working effectively under poor environmental conditions [1,2].Imaging sensors have been widely studied and applied to determine position and orientation via a technology called vision navigation
The framework of geo-referenced image database (GRID)-aided vision navigation is established with sequence images derived from land-based, multiple sensor-integrated mobile mapping systems
We proposed a vision navigation approach based on this database to facilitate continuous and robust navigation for GPS and IMU
Summary
Imaging sensors have been widely studied and applied to determine position and orientation via a technology called vision navigation. This approach may be effective for such applications because it can be utilized in a GPS/IMU-deprived environment (such as indoors, in urban canyons, and in far space) [3,4,5]. Sensors 2016, 16, 166 this approach does not depend on any signal or radiant sources [1,6]. This environmental condition becomes problematic when real-time and high-precision performance is required
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