Toward fusion of camera-based egomotion and inertial navigation for an UGV (Unmanned Ground Vehicle) traversing natural terrain

摘要

A UGV (unmanned ground vehicle) can better accomplish autonomous mobility through fusion of multiple sensors that provide information concerning the vehicle's location and orientation within the world. Fusion requires an understanding of the constituent elements. This paper describes the application of an egomotion estimator to a sequence of data from a forward-facing video camera on a surrogate UGV, compares the resulting egomotion estimates to those from a co-located inertial navigation system, and defines measures of consistency of the paired observations.