An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database
AbstractIn 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. View Full-Text
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Li, Y.; Hu, Q.; Wu, M.; Gao, Y. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database. Sensors 2016, 16, 166.
Li Y, Hu Q, Wu M, Gao Y. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database. Sensors. 2016; 16(2):166.Chicago/Turabian Style
Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang. 2016. "An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database." Sensors 16, no. 2: 166.
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