Toward fusion of camera-based egomotion and inertial navigation for a UGV (unmanned ground vehicle) traversing natural terrain

Gary Haas; William Oberle

doi:10.1117/12.542181

2 September 2004 Toward fusion of camera-based egomotion and inertial navigation for a UGV (unmanned ground vehicle) traversing natural terrain

Gary Haas, William Oberle

Author Affiliations +

Proceedings Volume 5422, Unmanned Ground Vehicle Technology VI; (2004) https://doi.org/10.1117/12.542181
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

A UGV (unmanned ground vehicle) can better accomplish autonomous mobility through fusion of multiple sensors that provide information concerning the vehicle's location and orientation within the world. Fusion requires an understanding of the constituent elements. This paper describes the application of an egomotion estimator to a sequence of data from a forward-facing video camera on a surrogate UGV, compares the resulting egomotion estimates to those from a co-located inertial navigation system, and defines measures of consistency of the paired observations.

Citation Download Citation

Gary Haas and William Oberle "Toward fusion of camera-based egomotion and inertial navigation for a UGV (unmanned ground vehicle) traversing natural terrain", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.542181

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