The performance analysis of stereo visual odometry assisted low-cost INS/GPS integration system

Li Hung Chen, Kai-Wei Chiang

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

Visual Odometry (VO) is a new method using sequence images acquired from the vehicle which is in motion to estimate the movement. In this research, a novel method is proposed for assisting low-cost INS/GPS integration system with VO system. When GPS signal vanishes, VO can be applied as the backup for GPS to reduce the INS accumulation errors. In order to evaluate the proposed system, the tactical INS/GNSS trajectory is used as the reference trajectory. The Distances Traveled (DT) by low-cost INS/GPS and VO modes are calculated. In addition, this study also investigates the accuracy variation in both monocular and stereo-vision VO system, respectively. The purpose is to verify the argument presented in related work. According to the preliminary results, the stereo VO performs well and the position errors in three directions are reduced by using the assisted information including VO position and velocity. It verifies that the proposed integrated system is helpful and efficient in the aspect of increasing the accuracy when GPS signal blockages.

Original languageEnglish
Pages (from-to)148-156
Number of pages9
JournalSmart Science
Volume3
Issue number3
DOIs
Publication statusPublished - 2015 Jan 1

Fingerprint

System Integration
Performance Analysis
Global positioning system
Visual System
Costs
Trajectories
Monocular Vision
Trajectory
Verify
Stereo vision
Stereo Vision
Vision System
Integrated System
Image Sequence
Vanish
Vision
Motion
Evaluate
Estimate

All Science Journal Classification (ASJC) codes

  • Chemistry (miscellaneous)
  • Modelling and Simulation
  • Energy (miscellaneous)
  • Engineering(all)
  • Fluid Flow and Transfer Processes
  • Computer Networks and Communications
  • Computational Mathematics

Cite this

@article{ac516828ce254ca99787b5c43fa5c37e,
title = "The performance analysis of stereo visual odometry assisted low-cost INS/GPS integration system",
abstract = "Visual Odometry (VO) is a new method using sequence images acquired from the vehicle which is in motion to estimate the movement. In this research, a novel method is proposed for assisting low-cost INS/GPS integration system with VO system. When GPS signal vanishes, VO can be applied as the backup for GPS to reduce the INS accumulation errors. In order to evaluate the proposed system, the tactical INS/GNSS trajectory is used as the reference trajectory. The Distances Traveled (DT) by low-cost INS/GPS and VO modes are calculated. In addition, this study also investigates the accuracy variation in both monocular and stereo-vision VO system, respectively. The purpose is to verify the argument presented in related work. According to the preliminary results, the stereo VO performs well and the position errors in three directions are reduced by using the assisted information including VO position and velocity. It verifies that the proposed integrated system is helpful and efficient in the aspect of increasing the accuracy when GPS signal blockages.",
author = "Chen, {Li Hung} and Kai-Wei Chiang",
year = "2015",
month = "1",
day = "1",
doi = "10.6493/SmartSci.2015.319",
language = "English",
volume = "3",
pages = "148--156",
journal = "Smart Science",
issn = "2308-0477",
publisher = "Taylor and Francis Ltd.",
number = "3",

}

The performance analysis of stereo visual odometry assisted low-cost INS/GPS integration system. / Chen, Li Hung; Chiang, Kai-Wei.

In: Smart Science, Vol. 3, No. 3, 01.01.2015, p. 148-156.

Research output: Contribution to journalArticle

TY - JOUR

T1 - The performance analysis of stereo visual odometry assisted low-cost INS/GPS integration system

AU - Chen, Li Hung

AU - Chiang, Kai-Wei

PY - 2015/1/1

Y1 - 2015/1/1

N2 - Visual Odometry (VO) is a new method using sequence images acquired from the vehicle which is in motion to estimate the movement. In this research, a novel method is proposed for assisting low-cost INS/GPS integration system with VO system. When GPS signal vanishes, VO can be applied as the backup for GPS to reduce the INS accumulation errors. In order to evaluate the proposed system, the tactical INS/GNSS trajectory is used as the reference trajectory. The Distances Traveled (DT) by low-cost INS/GPS and VO modes are calculated. In addition, this study also investigates the accuracy variation in both monocular and stereo-vision VO system, respectively. The purpose is to verify the argument presented in related work. According to the preliminary results, the stereo VO performs well and the position errors in three directions are reduced by using the assisted information including VO position and velocity. It verifies that the proposed integrated system is helpful and efficient in the aspect of increasing the accuracy when GPS signal blockages.

AB - Visual Odometry (VO) is a new method using sequence images acquired from the vehicle which is in motion to estimate the movement. In this research, a novel method is proposed for assisting low-cost INS/GPS integration system with VO system. When GPS signal vanishes, VO can be applied as the backup for GPS to reduce the INS accumulation errors. In order to evaluate the proposed system, the tactical INS/GNSS trajectory is used as the reference trajectory. The Distances Traveled (DT) by low-cost INS/GPS and VO modes are calculated. In addition, this study also investigates the accuracy variation in both monocular and stereo-vision VO system, respectively. The purpose is to verify the argument presented in related work. According to the preliminary results, the stereo VO performs well and the position errors in three directions are reduced by using the assisted information including VO position and velocity. It verifies that the proposed integrated system is helpful and efficient in the aspect of increasing the accuracy when GPS signal blockages.

UR - http://www.scopus.com/inward/record.url?scp=84978108098&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84978108098&partnerID=8YFLogxK

U2 - 10.6493/SmartSci.2015.319

DO - 10.6493/SmartSci.2015.319

M3 - Article

VL - 3

SP - 148

EP - 156

JO - Smart Science

JF - Smart Science

SN - 2308-0477

IS - 3

ER -