Open Daily: 10am - 10pm | Alley door pickup 10am - 7pm 3038 Hennepin Ave Minneapolis, MN
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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Coupling Vanishing Point Tracking With Inertial Navigation to Estimate Attitude in a Structured Environment

Coupling Vanishing Point Tracking With Inertial Navigation to Estimate Attitude in a Structured Environment

Prahl, Dayvid

Paperback

Technology & EngineeringGeneral ComputersGeneral Education

ISBN10: 1249578256
ISBN13: 9781249578253
Publisher: Biblioscholar
Published: Oct 2 2012
Pages: 110
Weight: 0.36
Height: 0.23 Width: 6.14 Depth: 9.21
Language: English
This research aims to obtain accurate and stable estimates of a vehicle's attitude by coupling consumer-grade inertial and optical sensors. This goal is pursued by first modeling both inertial and optical sensors and then developing a technique for identifying vanishing points in perspective images of a structured environment. The inertial and optical processes are then coupled to enable each one to aid the other. The vanishing point measurements are combined with the inertial data in an extended Kalman filter to produce overall attitude estimates. This technique is experimentally demonstrated in an indoor corridor setting using a motion profile designed to simulate flight. Through comparison with a tactical-grade inertial sensor, the combined consumer-grade inertial and optical data are shown to produce a stable attitude solution accurate to within 1.5 degrees. A measurement bias is manifested which degrades the accuracy by up to another 2.5 degrees.

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