Augmenting inertial navigation with image-based motion estimation

Stergios I. Roumeliotis, Andrew E. Johnson, James F. Montgomery

Research output: Chapter in Book/Report/Conference proceedingConference contribution

170 Scopus citations

Abstract

Numerous upcoming NASA missions need to land safely and precisely on planetary bodies. Accurate and robust state estimation during the descent phase is necessary. Towards this end, we have developed a new approach for improved state estimation by augmenting traditional inertial navigation techniques with image-based motion estimation (IBME). A Kalman filter that processes rotational velocity and linear acceleration measurements provided from an IMU has been enhanced to accommodate relative pose measurements from the IBME. In addition to increased state estimation accuracy, IBME convergence time is reduced while robustness of the overall approach is improved. The methodology is described in detail and experimental results with a 5DOF gantry testbed are presented.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4326-4333
Number of pages8
Volume4
StatePublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

Other

Other2002 IEEE International Conference on Robotics and Automation
Country/TerritoryUnited States
CityWashington, DC
Period5/11/025/15/02

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