What is it about?

This paper introduces a new method to improve errors in the Inertial Navigation System (INS) using Unscented Kalman Filter (UKF) by integrating Inertial Measurement Unit (IMU) data with the information provided by the camera, which is based on features' constraints.

Featured Image

Why is it important?

We showed that relative distance between two images is unobservable, but the direction from image one toward two is observable then we implemented the filter in such conditions. For avoiding the increasing dimensions of the covariance matrix, the sequential updating procedure is used in the measurement equation.


I hope this article makes people consider the observability problem in visual navigation systems. It is interesting that we showed using three images don't help us much more for increasing the accuracy of the navigation system.

Assistant Professor Habib Ghanbarpourasl
University of Turkish Aeronautical Association

Read the Original

This page is a summary of: Integration of the inertial navigation system with consecutive images of a camera by relative position and attitude updating, Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering, May 2019, SAGE Publications, DOI: 10.1177/0954410019852818.
You can read the full text:




The following have contributed to this page