title: An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.
abstract: In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.
authors.affiliation: School of Information Engineering, Chang'an University, Xi'an 710064, China. xaliyan72@163.com.
authors.forename: Yan
authors.initials: Y
authors.lastname: Li
authors.affiliation: School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China. huqw@whu.edu.cn.
authors.forename: Qingwu
authors.initials: Q
authors.lastname: Hu
authors.affiliation: Xi'an Research Institute of Surveying and Mapping, Xi'an 710054, China. wumeng19nudt@163.com.
authors.forename: Meng
authors.initials: M
authors.lastname: Wu
authors.affiliation: Xi'an Research Institute of Surveying and Mapping, Xi'an 710054, China. xagpsgy@163.com.
authors.forename: Yang
authors.initials: Y
authors.lastname: Gao
keywords: geo-referenced; image database; image matching; image retrieval; imaging sensor; multiple sensor-integrated mobile mapping; vision navigation
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