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2002
IEEE

Augmenting Inertial Navigation with Image-Based Motion Estimation

9 years 4 months ago
Augmenting Inertial Navigation with Image-Based Motion Estimation
Numerous upcoming NASA misions need to land safely and precisely on planetary bodies. Accurate and robust state estimation during the descent phase is necessary. Towards this end, we have developed a new approach for improved state estimation by augmenting traditional inertial navigation techniques with image-based motion estimation (IBME). A Kalman filter that processes rotational velocity and linear acceleration measurements provided from an IMU has been enhanced to accomodate relative pose measurements from the IBME. In addition to increased state estimation accuracy, IBME convergence time is reduced while robustness of the overall approach is improved. The methodology is described in detail and experimental results with a 5DOF gantry testbed are presented.
Stergios I. Roumeliotis, Andrew Edie Johnson, Jame
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Stergios I. Roumeliotis, Andrew Edie Johnson, James F. Montgomery
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