POSITION ACCURACY ANALYSIS OF A ROBUST VISION-BASED NAVIGATION

International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences

Gaglione, S.^1¹  Pizzo, S. Del^1² 

[1] Department of Science and Technology, University of Naples Parthenope, Napoli, Italy^1;G. Fortunato University, Benevento, Italy^2

关键词: Navigation;    Space Resection;    3D map;   

DOI  :  10.5194/isprs-archives-XLII-2-355-2018

学科分类：地球科学(综合)

来源: Copernicus Publications

【 摘 要 】

Using images to determine camera position and attitude is a consolidated method, very widespread for application like UAV navigation. In harsh environment, where GNSS could be degraded or denied, image-based positioning could represent a possible candidate for an integrated or alternative system. In this paper, such method is investigated using a system based on single camera and 3D maps. A robust estimation method is proposed in order to limit the effect of blunders or noisy measurements on position solution. The proposed approach is tested using images collected in an urban canyon, where GNSS positioning is very unaccurate. A previous photogrammetry survey has been performed to build the 3D model of tested area. The position accuracy analysis is performed and the effect of the robust method proposed is validated.

【 授权许可】

CC BY