SYSTEMS AND METHODS FOR LANDMARK SELECTION FOR NAVIGATION
First Claim
1. A vision based navigation system, the system comprising:
- an inertial measurement unit configured to provide inertial measurements for a vehicle;
at least one image sensor configured to acquire measurements of the environment of the vehicle;
one or more processing units configured to;
calculate a navigation solution for the vehicle based on the inertial measurements;
identify a plurality of landmarks in the acquired measurements;
identify a plurality of usable landmarks from the plurality of landmarks;
select a subset of useable landmarks from the plurality of useable landmarks such that the subset of landmarks has a smaller dilution of precision than other possible subsets of landmarks from the plurality of useable landmarks, wherein the dilution of precision is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks; and
calculate an updated navigation solution based on the subset of landmarks.
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Abstract
Systems and methods are provided for selecting landmarks for navigation. In one embodiment, a system comprises an IMU that provides inertial measurements for a vehicle and at least one image sensor that acquires measurements of the vehicle'"'"'s environment. The system also comprises a processing unit that calculates a navigation solution for the vehicle based on the inertial measurements, identifies a plurality of landmarks in the acquired measurements, and identifies a plurality of usable landmarks from the plurality of landmarks. The processing unit also selects a subset of useable landmarks from the plurality of useable landmarks such that the subset of landmarks has a smaller dilution of precision (DOP) than other possible subsets of landmarks from the plurality of useable landmarks, and calculates an updated navigation solution from the subset of landmarks. The DOP is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks.
23 Citations
20 Claims
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1. A vision based navigation system, the system comprising:
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an inertial measurement unit configured to provide inertial measurements for a vehicle; at least one image sensor configured to acquire measurements of the environment of the vehicle; one or more processing units configured to; calculate a navigation solution for the vehicle based on the inertial measurements; identify a plurality of landmarks in the acquired measurements; identify a plurality of usable landmarks from the plurality of landmarks; select a subset of useable landmarks from the plurality of useable landmarks such that the subset of landmarks has a smaller dilution of precision than other possible subsets of landmarks from the plurality of useable landmarks, wherein the dilution of precision is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks; and calculate an updated navigation solution based on the subset of landmarks. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for vision based navigation of a vehicle, the method comprising:
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calculating a predicted navigation solution for the vehicle from inertial measurements of the motion of the vehicle; acquiring measurements of the environment containing the vehicle; identifying a plurality of landmarks from the acquired measurements; identifying a plurality of useable landmarks from the plurality of landmarks; selecting a subset of useable landmarks from the plurality of useable landmarks, wherein the subset of landmarks has a smaller dilution of precision than other possible subsets of landmarks from the plurality of useable landmarks, wherein the dilution of precision is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks; and calculating an updated navigation solution based on the subset of landmarks. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A system for correcting inertial measurements, the system comprising:
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at least one image sensor configured to acquire measurements of an environment; a processing unit configured to; extract a plurality of landmarks from the acquired measurements; identify a plurality of useable landmarks in the plurality of landmarks, wherein a useable landmark is a landmark identified in the acquired measurements that is associated with a previously identified landmark, wherein the previously identified landmark was identified in a previous measurement of the environment; identify a subset of landmarks from the plurality of useable landmarks, where the number of landmarks in the subset of landmarks is less than a landmark threshold and the subset of landmarks has a smaller dilution of precision than other possible subsets of landmarks from the plurality of useable landmarks, wherein the dilution of precision is an amplification factor of measurement errors derived from the geometry of the subset of useable landmarks; and calculate corrections to a navigation solution calculated based on the inertial measurements. - View Dependent Claims (19, 20)
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Specification