Optic Flow for Enhanced Navigation and Seeker Exploitation (OFFENSE)

摘要

Modern navigation systems rely heavily on the Global Positioning System (GPS) to correct inertial measurement unit (IMU) error drifts. However, due to unreliability og GPS in certain scenarios, there is a great desire to create an inexpensive navigation solution to augment GPS based navigation. Vision-aided navigation is such a solution where information from captured imagery can supplement inexpensive on-board IMUs in bounding navigational errors that arise from IMU drifts. Optical flow information obtained from this imagery allows for the evaluation of structure-from-motion, motion-from- structure, and egomotion.