Skip to main content
SpringerLink
Log in
Book cover

Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control

ENCS 2012: Advances in Estimation, Navigation, and Spacecraft Control pp 291–308Cite as

Combined Vision – Inertial Navigation with Improved Outlier Robustness

  • Conference paper

  • 2340 Accesses

Abstract

This paper describes a loosely coupled approach for the improvement of state estimation in autonomous inertial navigation, using image-based relative motion estimation for augmentation. The augmentation system uses a recently proposed pose estimation technique based on a Entropy-Like cost function, which was proven to be robust to the presence of noise and outliers in the visual features. Experimental evidence of its performance is given and compared to a state-of-the-art algorithm. Vision-inertial integrated navigation is achieved using an Indirect Kalman Navigation Filter in the framework of stochastic cloning, and the proposed robust relative pose estimation technique is used to feed a relative position fix to the navigation filter. Simulation and Experimental results are presented and compared with the results obtained via the classical RANSAC – based Direct Linear Transform approach.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Broggi, A.: Robust Real-Time Lane and Road Detection in Critical Shadow Conditions. In: Proceedings of IEEE International Symposium on Computer Vision, Coral Gables, Florida (1995)

    Google Scholar 

  2. Watanabe, Y., Calise, A.J., Johnson, E.N.: Vision-Based Obstacle Avoidance for UAVs. In: AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Head, South Carolina (2007)

    Google Scholar 

  3. Pollini, L., Greco, F., Mati, R., Innocenti, M., Tortelli, A.: Stereo Vision Obstacle Detection based on Scale Invariant Feature Transform Algorithm. In: AIAA Guidance Navigation and Control Conference, Hilton Head, South Carolina (2007)

    Google Scholar 

  4. Innocenti, M., Mati, R., Pollini, L.: Vision Algorithms for Formation Flight and Aerial Refueling with Optimal Marker Labeling. In: AIAA Modeling and Simulation Technologies Conference, vol. 1, pp. 1–15 (2005)

    Google Scholar 

  5. Campa, G., Mammarella, M., Napolitano, M.R., Fravolini, M.L., Pollini, L., Stolarik, B.: A comparison of Pose Estimation algorithms for Machine Vision based Aerial Refueling for UAVs. In: Mediterranean Control Conference 2006, vol. 1, pp. 1–6 (2006)

    Google Scholar 

  6. Giulietti, F., Pollini, L., Innocenti, M., Napolitano, M.: Dynamic and control issues of formation flight. Aerospace Science and Technology 9(1), 65–71 (2005)

    Article  MATH  Google Scholar 

  7. Pollini, L., Innocenti, M., Giulietti, F.: Formation Flight: a Behavioral Approach. In: AIAA Guidance, Navigation and Control Conference, Montreal, Canada, vol. 1 (2001)

    Google Scholar 

  8. Hartley, R.I., Kahl, F.: Optimal algorithms in multiview geometry. In: Yagi, Y., Kang, S.B., Kweon, I.S., Zha, H. (eds.) ACCV 2007, Part I. LNCS, vol. 4843, pp. 13–34. Springer, Heidelberg (2007)

    Chapter  Google Scholar 

  9. Milella, A., Siegwart, R.: Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point. In: Proceedings of the Fourth IEEE International Conference on Computer Vision Systems (2006)

    Google Scholar 

  10. Nistér, D.: Preemptive RANSAC for Live Structure and Motion Estimation. In: IEEE International Conference on Computer Vision (2003)

    Google Scholar 

  11. Olson, C.F., Matthies, L.H., Schoppers, M., Maimone, M.W.: Rover navigation using stereo ego-motion. Robotics and Autonomous Systems 43, 215–229 (2003)

    Article  Google Scholar 

  12. Dame, A., Marchand, E.: Entropy-based visual servoing. In: IEEE International Conference on Robotics and Automation, Kobe, Japan (2009)

    Google Scholar 

  13. Jones, E., Soatto, S.: Visual-Inertial Navigation, Mapping and Localization: A Scalable Real-Time Causal Approach. International Journal of Robotics Research (2010)

    Google Scholar 

  14. Mourikis, A., Trawny, N., Roumeliotis, S., Johnson, A., Ansar, A., Matthies, L.: Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing. IEEE Transactions on Robotics 25(2), 264–280 (2009)

    Article  Google Scholar 

  15. Bryson, M., Reid, A., Ramos, F., Sukkarieh, S.: Airborne vision-based mapping and classification of large farmland environments. J. Field Robot. 27(5), 632–655 (2010)

    Article  Google Scholar 

  16. Roumeliotis, S., Johnson, A., Montgomery, J.: Augmenting inertial navigation with image-based motion estimation. In: Proceedings of IEEE International Conference on Robotics and Automation (2002)

    Google Scholar 

  17. Tardif, J.-P., George, M., Laverne, M., Kelly, A., Stentz, A.: A new approach to vision-aided inertial navigation. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2010)

    Google Scholar 

  18. Huber, P.J., Ronchetti, E.M.: Robust Statistics, 2nd edn. John Wiley & Sons, Inc. (2009)

    Google Scholar 

  19. Konolige, K., Agrawal, M., Solà, J.: Large-Scale Visual Odometry for Rough Terrain. Robotics Research; Springer Tracts in Advanced Robotics 66, 201–212 (2011)

    Article  Google Scholar 

  20. Roumeliotis, S., Burdick, J.: Stochastic Cloning: A generalized framework for processing relative state measurements. In: Proceedings of IEEE International Conference on Robotics and Automation (2002)

    Google Scholar 

  21. Rogers, R.: Applied Mathematics in Integrated Navigation Systems. American Institute of Aeronautics and Astronautics (2007)

    Google Scholar 

  22. Lowe, D.: Object Recognition from Local Scale-Invariant Features. In: Proc. of the International Conference on Computer Vision (ICCV) (1999)

    Google Scholar 

  23. Le, H., Kendall, D.G.: The Riemannian Structure of Euclidean Shape Spaces: A Novel Environment for Statistics. The Annals of Statistics 21(3), 1225–1271 (1993)

    Article  MathSciNet  MATH  Google Scholar 

  24. Indiveri, G.: An Entropy-Like Estimator for Robust Parameter Identification. Entropy 11, 560–585 (2009)

    Article  MathSciNet  MATH  Google Scholar 

  25. Chakrabarti, C., De, K.: Boltzmann-Gibbs entropy: axiomatic characterization and application. Journal of Mathematics and Mathematical Sciences 23(4), 243–251 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  26. Di Corato, F., Innocenti, M., Indiveri, G., Pollini, L.: An Entropy-Like Approach to Vision Based Autonomous Navigation. In: The Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China (2011)

    Google Scholar 

  27. Di Corato, F., Innocenti, M., Pollini, L.: An Entropy-Like Approach to Vision-Aided Inertial Navigation. In: The Proceedings of the 18th IFAC World Congress, Milan, Italy (2011)

    Google Scholar 

  28. Di Corato, F., Innocenti, M., Pollini, L.: Robust Vision-Aided Inertial Navigation via Entropy-Like Relative Pose Estimation. Journal of Gyroscopy and Navigation 4(1), 1–13 (2013)

    Article  Google Scholar 

  29. Nistér, D., Naroditsky, O., Bergen, J.: Visual Odometry. In: Proc. IEEE Conference on Computer Vision and Pattern Recognition (2004)

    Google Scholar 

  30. Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press (2000)

    Google Scholar 

  31. Triggs, B., McLauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment – A modern synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) Vision Algorithms 1999. LNCS, vol. 1883, pp. 298–372. Springer, Heidelberg (2000)

    Google Scholar 

  32. Vedaldi, A., Fulkerson, B.: Vlfeat: an open and portable library of computer vision algorithms. In: Proceedings of the International Conference on Multimedia (MM 2010) (2010)

    Google Scholar 

  33. Lee, T.: Vision Lab Geometry Library. UCLA VisionLab (2008), http://vision.ucla.edu/vlg/

  34. Innocenti, M., Pollini, L.: A Synthetic Environment for Dynamic Systems Control and Distributed Simulation. IEEE Control Systems Magazine 20(2), 49–61 (2000)

    Article  Google Scholar 

  35. Pollini, L., Greco, F., Mati, R., Innocenti, M.: Stereo Vision Obstacle Detection based on Scale Invariant Feature Transform Algorithm. In: Guidance Navigation and Control Conference (2007)

    Google Scholar 

  36. Hornegger, J., Tomasi, C.: Representation issues in the ML estimation of camera motion. In: The Proceedings of the Seventh IEEE International Conference on Computer Vision (1999)

    Google Scholar 

  37. Schmidt, J., Niemann, H.: Using Quaternions for Parametrizing 3-D Rotations in Unconstrained Nonlinear Optimization. In: Proceedings of the Vision Modeling and Visualization Conference (2001)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. University of Pisa, Pisa, 56122, Italy

    Francesco Di Corato, Mario Innocenti & Lorenzo Pollini

Authors
  1. Francesco Di Corato
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mario Innocenti
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Lorenzo Pollini
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Francesco Di Corato .

Editor information

Editors and Affiliations

  1. Mechanical Engineering Department, Ben-Gurion University of the Negev, Beer Sheva, Israel

    Daniel Choukroun

  2. Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, Haifa, Israel

    Yaakov Oshman

  3. NASA Goddard Space Flight Center, Greenbelt, USA

    Julie Thienel

  4. Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, Haifa, Israel

    Moshe Idan

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Di Corato, F., Innocenti, M., Pollini, L. (2015). Combined Vision – Inertial Navigation with Improved Outlier Robustness. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_16

Download citation

  • DOI: https://doi.org/10.1007/978-3-662-44785-7_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-44784-0

  • Online ISBN: 978-3-662-44785-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation