Visual-Inertial Navigation System based on a New approach in Tracking and Investigating the Image Feature Points

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Arbabmir Mohammadvali; Ebrahimi kachooi Masoud

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Paper Information

Journal: Journal of Space Science and Technology Year:2019 | Volume:12 | Issue:3 (40) Page(s): 43-54

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Information Journal Paper

Title

Visual-Inertial Navigation System based on a New approach in Tracking and Investigating the Image Feature Points

Author(s)

Arbabmir Mohammadvali | Ebrahimi kachooi Masoud | Issue Writer Certificate

Keywords

INSQ1

Visual NavigationQ1

Feature TrackingQ1

BarometerQ1

EKFQ1

Abstract

In the last decades, the Visual Navigation system has been investigated by many researchers as an aided navigation system for Inertial Navigation System (INS) in the Unmanned Aerial Vehicles (UAV). In this research, for improving the INS errors a new approach based on Feature Tracking algorithm is used. In this approach, in order to estimate the feature points in the current image, the INS states, the feature points of the previous image and dynamic equations are used. Also, in this approach, for improving the estimation of terrain points, the outlier estimated feature points delete. Furthermore, in this article, for improving the altitude error, a Barometer is used by the mentioned vision navigation system. The simulation results illustrate the desirable accuracy of the vision system and Barometer observations in the update step of Extended Kalman Filter (EKF) and remarkable performance of integrated navigation system for calculating the UAV navigation parameters.

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APA: Copy

Arbabmir, Mohammadvali, & Ebrahimi kachooi, Masoud. (2019). Visual-Inertial Navigation System based on a New approach in Tracking and Investigating the Image Feature Points. JOURNAL OF SPACE SCIENCE AND TECHNOLOGY (JSST), 12(3 (40) ), 43-54. SID. https://sid.ir/paper/390951/en

Vancouver: Copy

Arbabmir Mohammadvali, Ebrahimi kachooi Masoud. Visual-Inertial Navigation System based on a New approach in Tracking and Investigating the Image Feature Points. JOURNAL OF SPACE SCIENCE AND TECHNOLOGY (JSST)[Internet]. 2019;12(3 (40) ):43-54. Available from: https://sid.ir/paper/390951/en

IEEE: Copy

Mohammadvali Arbabmir, and Masoud Ebrahimi kachooi, “Visual-Inertial Navigation System based on a New approach in Tracking and Investigating the Image Feature Points,” JOURNAL OF SPACE SCIENCE AND TECHNOLOGY (JSST), vol. 12, no. 3 (40) , pp. 43–54, 2019, [Online]. Available: https://sid.ir/paper/390951/en

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