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EnglishThe paper presents a loosely coupled approach for the improvement of the state estimation in autonomous inertial navigation tasks, augmented via image-based relative motion estimation. The proposed approach uses a novel Pose Estimation technique based on the minimization of a Entropy-Like cost function which is robust by nature to the presence of noise and outliers in the visual features. A Indirect Kalman Navigation Filter is used, in the framework of stochastic cloning. The robust relative pose estimation given by our novel technique is used to feed a relative position fix to the navigation filter. Simulations results are presented and compared with the results obtained via the classical Iterative Closest Point approach.
| Titolo: | An Entropy-Like Approach to Vision-Aided Inertial Navigation | |
| Autori interni: | ||
| Anno del prodotto: | 2011 | |
| Handle: | http://hdl.handle.net/11568/193722 | |
| ISBN: | 9783902661937 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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