Performance of navigation system utilizing Visual Odometry compared to MEMS IMU/GPS integration

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Visual Odometry is a system of estimating the egomotion of the moving camera which can solely rely on pure visual data. This study compares the performance of Visual Odometry with MEMS IMU/GPS integration. Visual Odometry estimates the motion of camera based on sequential input images. The fundamental of this approach is to track feature points from the images of the moving camera. First, detecting the feature points in each frame. Second, matching feature points between two sequential images. In the last, by tracking these feature points so that the pose of moving camera can be produced. In our experiments, we utilize the images from single moving camera as input data to proceed the Visual Odometry to estimate the motion of camera. The results of Visual Odometry have been evaluated by result of INS/GPS integration. The results show that the accuracy of different situations of Visual Odometry and drawbacks that need to be improved.

Original languageEnglish
Title of host publication34th Asian Conference on Remote Sensing 2013, ACRS 2013
PublisherAsian Association on Remote Sensing
Pages4448-4452
Number of pages5
Volume5
ISBN (Print)9781629939100
Publication statusPublished - 2013
Event34th Asian Conference on Remote Sensing 2013, ACRS 2013 - Bali, Indonesia
Duration: 2013 Oct 202013 Oct 24

Other

Other34th Asian Conference on Remote Sensing 2013, ACRS 2013
CountryIndonesia
CityBali
Period13-10-2013-10-24

Fingerprint

Navigation systems
MEMS
Global positioning system
Cameras
Experiments

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications

Cite this

Sih, Y. R., Chu, H-J., & Chiang, K-W. (2013). Performance of navigation system utilizing Visual Odometry compared to MEMS IMU/GPS integration. In 34th Asian Conference on Remote Sensing 2013, ACRS 2013 (Vol. 5, pp. 4448-4452). Asian Association on Remote Sensing.
Sih, Yuan Rong ; Chu, Hone-Jay ; Chiang, Kai-Wei. / Performance of navigation system utilizing Visual Odometry compared to MEMS IMU/GPS integration. 34th Asian Conference on Remote Sensing 2013, ACRS 2013. Vol. 5 Asian Association on Remote Sensing, 2013. pp. 4448-4452
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Sih, YR, Chu, H-J & Chiang, K-W 2013, Performance of navigation system utilizing Visual Odometry compared to MEMS IMU/GPS integration. in 34th Asian Conference on Remote Sensing 2013, ACRS 2013. vol. 5, Asian Association on Remote Sensing, pp. 4448-4452, 34th Asian Conference on Remote Sensing 2013, ACRS 2013, Bali, Indonesia, 13-10-20.

Performance of navigation system utilizing Visual Odometry compared to MEMS IMU/GPS integration. / Sih, Yuan Rong; Chu, Hone-Jay; Chiang, Kai-Wei.

34th Asian Conference on Remote Sensing 2013, ACRS 2013. Vol. 5 Asian Association on Remote Sensing, 2013. p. 4448-4452.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Sih YR, Chu H-J, Chiang K-W. Performance of navigation system utilizing Visual Odometry compared to MEMS IMU/GPS integration. In 34th Asian Conference on Remote Sensing 2013, ACRS 2013. Vol. 5. Asian Association on Remote Sensing. 2013. p. 4448-4452