Mathematical Model of Errors of Odometry and Georeferencing Channels in Visual Correlation Extreme Navigation

• Autorzy: Mukhina M. P. , Kharchenko V. P.
• Języki publikacji: EN

Abstrakty

EN

The mathematic model of errors in correlation with the extreme navigation system (CENS) is developed basing on odometry and geo-referencing channels. The realization of the model is done in Simulink, and based on regular and random components of additive noise. The results of simulations prove accumulation of errors for odometry errors and its mitigation in case of geo-referencing in periods of correction.

Słowa kluczowe

EN

correlation; extreme; navigation; visual odometry; georeferencing; feature matching; cartographic errors

• Wydawca: Międzynarodowa Wyższa Szkoła Logistyki i Transportu we Wrocławiu
• Czasopismo: Logistics and Transport
• Rocznik: 2017
• Tom: Vol. 33, No. 1
• Strony: 31--36
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Mukhina M. P.

• National Aviation University, Ukraine

autor

Kharchenko V. P.

• National Aviation University, Ukraine

Bibliografia

• [1] Tsin, Y., Ramesh, V., and Kanade, T. (2001). Statistical calibration of CCD imaging process. In Eighth International Conference on Computer Vision (ICCV 2001), pp. 480–487, Vancouver, Canada
• [2] Grossberg, M. D. and Nayar, S. K. (2004). Modeling the space of camera response functions. IEEE Transactions on Pattern Analysis and Machine Intelligence, 26(10):1272–1282.
• [3] Goodchild M. F., Gopal S. (ed.). The accuracy of spatial databases. – CRC Press, 1989. –193 p.
• [4] V. Kharchenko, M. Mukhina Correlation-extreme visual navigation of unmanned aircraft systems based on Speed-Up Robust Features // Aviation. No 2, Volume 18, 2014.
• [5] Conte G., Doherty P. Vision-based unmanned aerial vehicle navigation using geo-referenced information //EURASIP Journal on Advances in Signal Processing. – 2009. – P. 10.
• [6] Caballero F. et al. Vision-based odometry and SLAM for medium and high altitude flying UAVs //Unmanned Aircraft Systems. – Springer Netherlands, 2009. – P. 137-161.
• [7] Lindsten F. et al. Geo-referencing for UAV navigation using environmental classification //Robotics and Automation (ICRA), 2010 IEEE International Conference on. – IEEE, 2010. – P. 1420-1425.
• [8] Jiang R., Klette R., Wang S. Modeling of unbounded long-range drift in visual odometry //Image and Video Technology (PSIVT), 2010 Fourth Pacific-Rim Symposium on. – IEEE, 2010. – P. 121-126.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).