Distributed vision-aided cooperative localization and navigation based on three-view geometry

@article{Indelman2011DistributedVC,
  title={Distributed vision-aided cooperative localization and navigation based on three-view geometry},
  author={Vadim Indelman and Pini Gurfil and Ehud Rivlin and H{\'e}ctor Rotstein},
  journal={2011 Aerospace Conference},
  year={2011},
  pages={1-20}
}
This paper presents a new method for distributed vision-aided cooperative localization and navigation for multiple autonomous platforms based on constraints stemming from the three-view geometry of a general scene. Each platform is assumed to be equipped with a standard inertial navigation system and an on-board, possibly gimbaled, camera. The platforms are also assumed to be capable of intercommunicating. No other sensors, or any a priori information is required. In contrast to the traditional… CONTINUE READING
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Navigation Performance Enhancement Using Online Mosaicking

  • V. Indelman
  • PhD thesis, in preparation, Technion, Israel.
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