Vision-Aided Inertial Navigation Based on Ground Plane Feature Detection

@article{Panahandeh2014VisionAidedIN,
  title={Vision-Aided Inertial Navigation Based on Ground Plane Feature Detection},
  author={Ghazaleh Panahandeh and Magnus Jansson},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2014},
  volume={19},
  pages={1206-1215}
}
In this paper, a motion estimation approach is introduced for a vision-aided inertial navigation system. The system consists of a ground-facing monocular camera mounted on an inertial measurement unit (IMU) to form an IMU-camera sensor fusion system. The motion estimation procedure fuses inertial data from the IMU and planar features on the ground captured by the camera. The main contribution of this paper is a novel closed-form measurement model based on the image data and IMU output signals… CONTINUE READING

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