Online Mosaicking & Navigation-Aiding

This research investigated how online mosaicking, based on imagery captured by an onboard camera, can be used for navigation aiding. In particular, introducing a coupling between a gimballed camera, that scans ground regions in flight vicinity, and the mosaicking process resulted in improved image-based motion estimations when operating in low-texture environments. The latter were fused with an inertial navigation system thereby leading to improved performance.

One of the generated mosaic images in JGCD 2010:

 

Related Publications:

Articles

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Navigation Aiding Based on Coupled Online Mosaicking and Camera Scanning. AIAA Journal of Guidance, Control and Dynamics, 33(6):1866-1882, 2010.
    [BibTeX] [PDF]
    @Article{Indelman10jgcd,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Navigation Aiding Based on Coupled Online Mosaicking and Camera Scanning},
    journal = "AIAA Journal of Guidance, Control and Dynamics",
    volume = 33,
    number = 6,
    year = 2010,
    pages = {1866-1882},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman10jgcd.pdf",
    researchtopic = {Mosaicking},
    }

In Proceedings

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Real-Time Mosaic-Aided Aerial Navigation: II. Sensor Fusion. In AIAA Guidance, Navigation and Control Conference, August 2009.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Indelman09gnc_b,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Real-Time Mosaic-Aided Aerial Navigation: II. Sensor Fusion},
    booktitle = "AIAA Guidance, Navigation and Control Conference",
    year = 2009,
    month = "August",
    location = {Chicago, USA},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman09gnc_b.pdf",
    slides = "http://vindelman.technion.ac.il/Publications/Indelman09gnc_b_ppt.pdf",
    researchtopic = {Mosaicking},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Real-Time Mosaic-Aided Aerial Navigation: I. Motion Estimation. In AIAA Guidance, Navigation and Control Conference, August 2009.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Indelman09gnc_a,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Real-Time Mosaic-Aided Aerial Navigation: I. Motion Estimation},
    booktitle = "AIAA Guidance, Navigation and Control Conference",
    year = 2009,
    month = "August",
    location = {Chicago, USA},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman09gnc_a.pdf",
    slides = "http://vindelman.technion.ac.il/Publications/Indelman09gnc_a_ppt.pdf",
    researchtopic = {Mosaicking},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Navigation Aiding Using On-Line Mosaicking. In IEEE/ION Position Location and Navigation System (PLANS) Conference, May 2008.
    [BibTeX]
    @InProceedings{Indelman08plans,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Navigation Aiding Using On-Line Mosaicking},
    booktitle = "IEEE/ION Position Location and Navigation System (PLANS) Conference",
    year = 2008,
    month = "May",
    location = {California, USA},
    researchtopic = {Mosaicking},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Navigation Performance Enhancement Using Rotation and Translation Measurements from Online Mosaicking. In AIAA Guidance, Navigation and Control Conference, August 2007.
    [BibTeX]
    @InProceedings{Indelman07gnc,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Navigation Performance Enhancement Using Rotation and Translation Measurements from Online Mosaicking},
    booktitle = "AIAA Guidance, Navigation and Control Conference",
    year = 2007,
    month = "August",
    location = {Hilton Head, SC, USA},
    researchtopic = {Mosaicking},
    }

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