Engineering Commons^™

Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray

Theses and Dissertations

The Air Force Institute of Technology (AFIT) is investigating techniques to improve aircraft navigation using low-cost imaging and inertial sensors. Stationary features tracked within the image are used to improve the inertial navigation estimate. These features are tracked using a correspondence search between frames. Previous research investigated aiding these correspondence searches using inertial measurements (i.e., stochastic projection). While this research demonstrated the benefits of further sensor integration, it still relied on robust feature descriptors (e.g., SIFT or SURF) to obtain a reliable correspondence match in the presence of rotation and scale changes. Unfortunately, these robust feature extraction algorithms are computationally …