Outdoor Visual Localization: A Survey
Technical Report,01 Jul 2019,30 Sep 2019
Combat Capabilities Development Command Army Research Laboratory Adelphi United States
Pagination or Media Count:
GPS-denied localization for the Soldier is paramount to military mission success. Sensors such as cameras and inertial measurement units are already ubiquitous in the aid of navigation. However, state estimation utilizing such sensors produces drift that currently must be squashed using absolute position measurements from unreliable GPS signals. To mitigate this uncertainty, we consider visual localization to provide an alternative global state estimate without the need for any current infrastructure. In this report, we investigate the current methodologies and capabilities, and review state-of-the-art approaches for visual localization and place recognition.
- Navigation and Guidance