Design of a Navigation System Based on Scene Matching and Software in the Loop Simulation

2021 ◽  
Author(s):  
Ayham Shahoud ◽  
Dmitriy Shashev ◽  
Stanislav Shidlovskiy
Keyword(s):  
Navigation System ◽  
Scene Matching

High-Speed and Robust Scene Matching Algorithm Based on ORB for SAR/INS Integrated Navigation System

2012 ◽  
Vol 241-244 ◽  
pp. 439-443
Author(s):  
Fang Chen ◽  
Yun Xi Xu
Keyword(s):  
Navigation System ◽  
High Speed ◽  
Hamming Distance ◽  
Reference Image ◽  
Integrated Navigation ◽  
Sar Images ◽  
Matching Algorithm ◽  
Integrated Navigation System ◽  
Scene Matching ◽  
Position Errors

It is important that scene matching algorithm should satisfy the requirements of real-time, robustness and high-precision for inertial integrated navigation system. And considering the serious distortion and speckle noises of SAR images, we proposed a new scene matching algorithm for the SAR/INS integrated navigation system with high-speed and robustness based on Oriented FAST and Rotated BRIEF (ORB). We started by detecting scale-space FAST-based features in combination with an efficiently computed orientation in the image. Then, we calculated feature point's Rotation-Aware BRIEF descriptor which performs well with rotation and match features by computing Hamming distance between descriptors. Finally, we adopted GroupSAC which are proposed recently to remove the false matching points and the least square algorithm for getting the distortion transformation parameters that are the aircraft position errors and rotation transform parameters between real image and reference image. Experimental results on real SAR images indicate that our algorithm is invariant to various image transformations due to rotation and scale, and also robust to speckle noise and extremely efficient to compute, better than SIFT in many situations. Therefore, our algorithm can meet the high performance needs for matching navigation in the SAR/INS integrated navigation system.

Scene Matching Algorithm Based on Region Covariance for INS Integrated Navigation System

2011 ◽  
Vol 40 (3) ◽  
pp. 471-475
Author(s):  
许允喜 XU Yunxi ◽  
蒋云良 JIANG Yunliang ◽  
陈方 CHEN Fang
Keyword(s):  
Navigation System ◽  
Integrated Navigation ◽  
Matching Algorithm ◽  
Integrated Navigation System ◽  
Scene Matching ◽  
Region Covariance

Research on Scene Matching Algorithm in the Vision-Aided Navigation System

2011 ◽  
Vol 128-129 ◽  
pp. 229-232 ◽  
Author(s):  
Ya Ling Du
Keyword(s):  
Computational Complexity ◽  
Real Time ◽  
High Precision ◽  
Navigation System ◽  
Hessian Matrix ◽  
Matrix Approximation ◽  
Integral Image ◽  
Matching Algorithm ◽  
Scene Matching ◽  
Matching Performance

the maching algorithm in the vision-aided navigation system must be real-time, high-precision and suitable for matching different images with some scaling and rotation. This paper proposed three algorithms based on SURF, SIFT and ASIFT features. The SURF algorithm is the better method than the SIFT and ASIFT in theory, because the use of integral image and basic Hessian-matrix approximation has greatly reduce the computational complexity. The experimental results show that the three algorithms can obtain similar detecting and matching performance, but the SIFT and ASIFT need too much time to realize real time. So, the SURF is more suitable for scene matching in the vision-aided navigation system.

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