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Author Menozzi, A. ♦ Clipp, B. ♦ Wenger, E. ♦ Heinly, J. ♦ Dunn, E. ♦ Towles, H. ♦ Frahm, J.-M. ♦ Welch, G.
Sponsorship IEEE Aerosp. Electron. Syst. Soc.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2014
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Military & nautical engineering
Subject Keyword Vectors ♦ Estimation ♦ Global Positioning System ♦ Magnetometers ♦ Cameras ♦ Magnetic resonance imaging ♦ Graphics ♦ computer vision ♦ inertial navigation ♦ augmented reality
Abstract This paper describes the development of vision-aided navigation (i.e., pose estimation) for a wearable augmented reality system operating in natural outdoor environments. This system combines a novel pose estimation capability, a helmet-mounted see-through display, and a wearable processing unit to accurately overlay geo-registered graphics on the user's view of reality. Accurate pose estimation is achieved through integration of inertial, magnetic, GPS, terrain elevation data, and computervision inputs. Specifically, a helmet-mounted forward-looking camera and custom computer vision algorithms are used to provide measurements of absolute orientation (i.e., orientation of the helmet with respect to the Earth). These orientation measurements, which leverage mountainous terrain horizon geometry and/or known landmarks, enable the system to achieve significant improvements in accuracy compared to GPS/INS solutions of similar size, weight, and power, and to operate robustly in the presence of magnetic disturbances. Recent field testing activities, across a variety of environments where these vision-based signals of opportunity are available, indicate that high accuracy (less than 10 mrad) in graphics geo-registration can be achieved. This paper presents the pose estimation process, the methods behind the generation of vision-based measurements, and representative experimental results.
Description Author affiliation: Univ. of Central Florida, Orlando, FL, USA (Welch, G.) || URC Ventures, Redmond, WA, USA (Clipp, B.) || Appl. Res. Assoc., Inc. (ARA), Raleigh, NC, USA (Menozzi, A.; Wenger, E.; Towles, H.) || Univ. of North Carolina, Chapel Hill, NC, USA (Heinly, J.; Dunn, E.; Frahm, J.-M.)
ISSN 21533598
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2014-05-05
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479933204
Size (in Bytes) 12.51 MB
Page Count 13
Starting Page 460
Ending Page 472


Source: IEEE Xplore Digital Library