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1 results

  • Stereo-Image Matching Using a Speeded Up Robust Feature Algorithm in an Integrated Vision Navigation System

  • Chun Liu, Fagen Zhou, Yiwei Sun, Kaichang Di, Zhaoqin Liu
  • Journal:
    The Journal of Navigation / Volume 65 / Issue 4 / October 2012
    Published online by Cambridge University Press:
    12 June 2012, pp. 671-692
    Print publication:
    October 2012
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  • Visual navigation is comparatively advanced without a Global Positioning System (GPS). It obtains environmental information via real-time processing of the data gained through visual sensors. Compared with other methods, visual navigation is a passive method that does not launch light or other radiation applications, thus making it easier to hide. The novel navigation system described in this paper uses stereo-matching combined with Inertial Measurement Units (IMU). This system applies photogrammetric theory and a matching algorithm to identify the matching points of two images of the same scene taken from different views and obtains their 3D coordinates. Integrated with the orientation information output by the IMU, the system reduces model-accumulated errors and improves the point accuracy.