Video-Assisted Global Positioning in Terrain Navigation with Known Landmarks

Guna Seetharaman and Ha V. Le
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Guna Seetharaman: Electrical and Computer Engineering Division, Air Force Institute of Technology, Wright-Patterson AFB, Ohio
Ha V. Le: Department of Electrical and Computer Engineering, College of Technology, Vietnam National University, Cau Giay, Hanoi, Vietnam

International Journal of Distributed Sensor Networks, 2006, vol. 2, issue 2, 103-119

Abstract: We present a rigorous geometric analysis of the computation of the global positions of an airborne video camera and ground based objects using aerial images of known landmarks. This has also been known as the perspective-n-point (PnP) problem. A robust Hough transform-like method, facilitated by a class of CORDIC-structured computations is developed to find the camera position followed by a method of computing the position of a ground object from images of that object and three known landmarks. The results enable fast and effective visual terrain navigation of aerial surveillance systems when the global positioning and inertial navigation sensors become faulty, inaccurate, or dysfunctional. These new hardware implementable algorithms can also be used with MEMS based INS sensors through a multisensory fusion process.

Keywords: Visual Navigation; GPS Fault Tolerance; Unmanned Air Vehicles; Low-altitude Aerial Imagery (search for similar items in EconPapers)
Date: 2006
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Persistent link: https://EconPapers.repec.org/RePEc:sae:intdis:v:2:y:2006:i:2:p:103-119

DOI: 10.1080/15501320500201235

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