2009
DOI: 10.1109/tro.2009.2012342
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Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing

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Cited by 303 publications
(186 citation statements)
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“…Therefore, LF vision-based navigation algorithm is considered a "visual odometry" system instead of a SLAM [5]. LF navigation is based on a Multi-State Constraint Kalman Filter (MSC-KF) [6]. The MSC-KF is referred to as an opportunistic algorithm, in that it uses any matched image features, but does not attempt to build a database from them for long-term mapping.…”
Section: A Hf Simultaneous Localization and Mappingmentioning
confidence: 99%
“…Therefore, LF vision-based navigation algorithm is considered a "visual odometry" system instead of a SLAM [5]. LF navigation is based on a Multi-State Constraint Kalman Filter (MSC-KF) [6]. The MSC-KF is referred to as an opportunistic algorithm, in that it uses any matched image features, but does not attempt to build a database from them for long-term mapping.…”
Section: A Hf Simultaneous Localization and Mappingmentioning
confidence: 99%
“…It can be done by integrating the INS with an auxiliary navigation subsystem and forming, e.g., such combined system as a visual-aided INS (see, e.g. [22]), which provides the landmark-based estimation of position and velocity. In this case, the extended Kalman filter is proposed to be applied to fuse inertial measurements with camera observations of the socalled map landmarks, i.e., features (e.g., craters) whose coordinates can be found from a map of the landing site, which is available a priori.…”
Section: Navigation Aspects Of the Guidance At Entry Phasementioning
confidence: 99%
“…The plane-facing cameras can provide a reliable visual information when navigating in environments with poor features or regions with dynamic backgrounds. One interesting application of such system is for precise planetary landing in the spacecraft control systems [1]. Other applications include, e.g., indoor cleaning robots [2], automated parking systems [3], and industrial robots [4] where most of the actions are performed in front of a planar surface.…”
Section: Introductionmentioning
confidence: 99%
“…Previously, the observation of planar features of the ground plane was implicitly used in different visual inertial navigation systems, such as [1], [5]- [8]. Several methods have been proposed in [9], where the properties of the planar features on a horizontal plane are explicitly used to derive the system state-space model; advantages and different aspects in this visual-inertial navigation system including motion estimation, horizontal plane feature detection, and observability analysis have been also addressed in [9].…”
Section: Introductionmentioning
confidence: 99%