The Performance Analysis of Stereo Visual Odometry Assisted Low-Cost INS/GPS Integration System

  • 陳 麗虹

Student thesis: Master's Thesis


In recent years there are increasing applications of Inertial Navigation System (INS) with different aiding sensors such as Global Positioning System (GPS) odometer heading rate sensor and so on The INS/GPS integration system with odometer is the most commonly used in the land vehicular navigation area In this research a novel method is proposed for assisting low-cost INS/GPS integration system with Visual Odometry (VO) system to replace above sensors The VO can estimate the movement of vehicle When GPS signal vanishes VO can be applied as the backup for GPS The VO provides velocity information and updates the estimated position of the vehicle to reduce the INS accumulation errors then to improve the positioning accuracy The tactical INS/GNSS (Global Navigation Satellite System) trajectory processed with RTS (Rauch-Tung-Striebel) smoother in the tightly coupled mode is used as the reference trajectory The distances traveled (DT) by low-cost INS/GPS and VO modes are calculated The trajectory comparison scenario is conducted in this research as well In addition this study investigates the accuracy variation in both monocular and stereo-vision VO system respectively The purpose is to verify the argument presented in related work The settings of our experiments include different image sampling rates different scenes and driving dynamics According to the preliminary results the position errors in three directions are reduced when GPS outage period is over two minutes and the improvement of 3D position RMSE is more than 40% by using the assisted information including VO position and velocity Based on the preliminary results shown in the research the stereo VO performs well and the performance of the proposed system is good in the GPS-hostile environment
Date of Award2014 Aug 20
Original languageEnglish
SupervisorKai-Wei Chiang (Supervisor)

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