.png){kind=icon}
返回
Measurement Error Detection for Stereo Visual Odometry Integrity
.png){kind=icon}
OA
AI
DOI：10.33012/navi.542.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Integrity, a safety-of-life framework from civil aviation for satellite navigation, is greatly under-explored in visual navigation. A new two-factor approach to rejecting measurement outliers is proposed for navigation integrity in stereo visual odometry (VO). In contrast to other treatments using reprojection error as measurement residuals, our choice of landmark matching error inherently connects navigation solutions and integrity monitoring. We propose two meth- ods to detect large measurement residuals that cannot otherwise be identified by existing outlier rejection methods in state-of-the-art VO pipelines. By reject- ing these outliers, measurement residuals can be bounded by the distribution overbounding method that provides fundamental inputs for integrity compu- tations. We evaluate our methods using an open-source data set. Overbounding performance is improved in terms of tightness, computational efficiency, and most important of all, scenario tolerance. This could be a good starting point for developing future integrity monitoring algorithms for visual navigation and in particular, stereo VO.
Keyword:
integrity
overbounding
landmark matching error
measurement error
outlier rejection
visual odometry
期刊
IF:
2
论文数:
554
被引数:
1.6K
机构
引用论文
.png){kind=icon}
Reduction of Post-kiln Rejections for Improving Sustainability in Ceramic Industry: A Case Study
OAAI
OAAI分享收藏
查看更多内容