IPS – a vision aided navigation system
2017
Ego localization is an important prerequisite
for several scientific, commercial, and statutory tasks.
Only by knowing one’s own position, can guidance be
provided, inspections be executed, and autonomous
vehicles be operated. Localization becomes challenging
if satellite-based navigation systems are not available, or
data quality is not sufficient. To overcome this problem,
a team of the German Aerospace Center (DLR) developed
a multi-sensor system based on the human head and its
navigation sensors – the eyes and the vestibular system.
This system is called integrated positioning system (IPS)
and contains a stereo camera and an inertial measurement
unit for determining an ego pose in six degrees of
freedom in a local coordinate system. IPS is able to operate
in real time and can be applied for indoor and outdoor
scenarios without any external reference or prior knowledge.
In this paper, the system and its key hardware and
software components are introduced. The main issues
during the development of such complex multi-sensor
measurement systems are identified and discussed, and
the performance of this technology is demonstrated. The
developer team started from scratch and transfers this
technology into a commercial product right now. The
paper finishes with an outlook.
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