Vision-aided Localization and Navigation Based on Trifocal Tensor

TL;DR

This paper introduces a new vision-based navigation method using trifocal tensor for GPS-denied environments, enabling vehicle position estimation with only a camera and inertial sensors, demonstrated through simulations and experiments.

Contribution

It presents a novel trifocal tensor-based approach for vehicle localization that does not require landmark position estimation, suitable for GPS-denied scenarios.

Findings

Effective in simulation and real-world tests

Provides accurate position estimates without landmark localization

Operates with standard inertial sensors and a single camera

Abstract

In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard inertial navigation systems(INS) and a single camera only. We treat the trifocal tensor as the measurement model, being only concerned about the vehicle state and do not estimate the the position of the tracked landmarks. The performance of the proposed method is demonstrated using simulation and experimental data.