Robust and Stable Autonomous Vision-Inertial Navigation System for Unmanned Vehicles

Amit Sanyal (Inventor), Sasi Prabhakaran Viswanathan (Inventor)

Research output: Patent

Abstract

An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.
Original languageEnglish (US)
StatePublished - Sep 15 2017

Fingerprint

Unmanned vehicles
Inertial navigation systems
Sensors
Navigation
Global positioning system

Cite this

@misc{94e9935d27c44416b27806db8b9c8171,
title = "Robust and Stable Autonomous Vision-Inertial Navigation System for Unmanned Vehicles",
abstract = "An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.",
author = "Amit Sanyal and Viswanathan, {Sasi Prabhakaran}",
year = "2017",
month = "9",
day = "15",
language = "English (US)",
type = "Patent",

}

TY - PAT

T1 - Robust and Stable Autonomous Vision-Inertial Navigation System for Unmanned Vehicles

AU - Sanyal, Amit

AU - Viswanathan, Sasi Prabhakaran

PY - 2017/9/15

Y1 - 2017/9/15

N2 - An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.

AB - An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.

M3 - Patent

ER -