Computer Science – Computer Vision and Pattern Recognition
Scientific paper
2011-07-07
Proceedings of the 2008 IEEE/ION Position, Location and Navigation Symposium, P.1203-1212
Computer Science
Computer Vision and Pattern Recognition
10 pages,12 figures, 2 tables
Scientific paper
10.1109/PLANS.2008.4570040
The paper deals with the error analysis of a navigation algorithm that uses as input a sequence of images acquired by a moving camera and a Digital Terrain Map (DTM) of the region been imaged by the camera during the motion. The main sources of error are more or less straightforward to identify: camera resolution, structure of the observed terrain and DTM accuracy, field of view and camera trajectory. After characterizing and modeling these error sources in the framework of the CDTM algorithm, a closed form expression for their effect on the pose and motion errors of the camera can be found. The analytic expression provides a priori measurements for the accuracy in terms of the parameters mentioned above.
Kupervasser Oleg
Lerner Ronen
Rivlin Ehud
Rotstein Hector
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