Measurement Error Detection for Stereo Visual Odometry Integrity Article Swipe
Yuanwen Fu
,
Shizhuang Wang
,
Yawei Zhai
,
Xingqun Zhan
,
Xin Zhang
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.33012/navi.542
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.33012/navi.542
Integrity, a safety-of-life framework from civil aviation for satellite navigation, is greatly under-explored in visual navigation. A new two-factor approach to rejecting measurement outliers is proposed for navigation integrity in stereo visual odometry (VO). In contrast to other treatments using reprojection error as measurement residuals, our choice of landmark matching error inherently connects navigation solutions and integrity monitoring. We propose two methods to detect large measurement residuals that cannot otherwise be identified by existing outlier rejection methods in state-of-the-art VO pipelines. By rejecting these outliers, measurement residuals can be bounded by the distribution overbounding method that provides fundamental inputs for integrity computations. We evaluate our methods using an open-source data set. Overbounding performance is improved in terms of tightness, computational efficiency, and most important of all, scenario tolerance. This could be a good starting point for developing future integrity monitoring algorithms for visual navigation and in particular, stereo VO.
Related Topics
Concepts
Computer science
Outlier
Visual odometry
Computer vision
Landmark
Artificial intelligence
Reprojection error
Factor graph
Anomaly detection
Receiver autonomous integrity monitoring
Visual inspection
Satellite navigation
Algorithm
Global Positioning System
Robot
Image (mathematics)
Decoding methods
Telecommunications
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.33012/navi.542
- https://navi.ion.org/content/navi/69/4/navi.542.full.pdf
- OA Status
- diamond
- Cited By
- 2
- References
- 39
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4313138393
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4313138393Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.33012/navi.542Digital Object Identifier
- Title
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Measurement Error Detection for Stereo Visual Odometry IntegrityWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2022Year of publication
- Publication date
-
2022-01-01Full publication date if available
- Authors
-
Yuanwen Fu, Shizhuang Wang, Yawei Zhai, Xingqun Zhan, Xin ZhangList of authors in order
- Landing page
-
https://doi.org/10.33012/navi.542Publisher landing page
- PDF URL
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https://navi.ion.org/content/navi/69/4/navi.542.full.pdfDirect link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
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https://navi.ion.org/content/navi/69/4/navi.542.full.pdfDirect OA link when available
- Concepts
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Computer science, Outlier, Visual odometry, Computer vision, Landmark, Artificial intelligence, Reprojection error, Factor graph, Anomaly detection, Receiver autonomous integrity monitoring, Visual inspection, Satellite navigation, Algorithm, Global Positioning System, Robot, Image (mathematics), Decoding methods, TelecommunicationsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
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2024: 2Per-year citation counts (last 5 years)
- References (count)
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39Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| primary_location.pdf_url | https://navi.ion.org/content/navi/69/4/navi.542.full.pdf |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
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| primary_location.is_accepted | True |
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| primary_location.raw_source_name | NAVIGATION: Journal of the Institute of Navigation |
| primary_location.landing_page_url | https://doi.org/10.33012/navi.542 |
| publication_date | 2022-01-01 |
| publication_year | 2022 |
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