Geometrical distortion integrated performance index for vision-based navigation system

This paper proposes weighted dilution of precision (WDOP) as an indicator of the accuracy of position and attitude in vision-based navigation. WDOP accurately represents the tendencies of navigational errors. It is obtained by weighted least squares. The weight is determined by the deployment of fea...

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Published inInternational journal of control, automation, and systems Vol. 11; no. 6; pp. 1196 - 1203
Main Authors Won, Dae Hee, Chun, Sebum, Lee, Seung-Woo, Sung, Sangkyung, Lee, Jiyun, Kim, Jeongrae, Lee, Young Jae
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.12.2013
Springer Nature B.V
제어·로봇·시스템학회
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ISSN1598-6446
2005-4092
DOI10.1007/s12555-012-0194-y

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Summary:This paper proposes weighted dilution of precision (WDOP) as an indicator of the accuracy of position and attitude in vision-based navigation. WDOP accurately represents the tendencies of navigational errors. It is obtained by weighted least squares. The weight is determined by the deployment of feature points and the geometrical distortion of the vision sensor. The performance of WDOP was verified by simulation. The values of the dilution of precision (DOP) and WDOP were computed and analyzed by comparison with the navigational errors. Additionally, a correlation test was used to determine how well they reflect the trends of the navigational errors. Simulation results showed that WDOP was strongly correlated with navigational errors, which makes it a parameter that can be used to determine the quality of a vision-based navigation system. The proposed WDOP can be used as a practical indicator of navigation performance.
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G704-000903.2013.11.6.020
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-012-0194-y