Navigation, Guidance, Control and Dynamics Commons^™

Monocular Vision Localization Using A Gimbaled Laser Range Sensor, Don J. Yates

Theses and Dissertations

There have been great advances in recent years in the area of indoor navigation. Many of these new navigation systems rely on digital images to aid an inertial navigation estimates. The Air Force Institute of Technology (AFIT) has been conducting research in this area for a number of years. The image-aiding techniques are centered around tracking stationary features in order to improve inertial navigation estimates. Previous research has used stereo vision systems or terrain constraints with monocular systems to estimate feature locations. While these methods have shown good results, they do have drawbacks. First, as unmanned exploration vehicles become smaller …