| 摘要 |
The present invention relates to a method (10) for estimating the motion of a carrier with respect to an environment (20) in relation to which said carrier is moving, the carrier bearing a navigation sensor and a vision sensor producing images of the environment, said method comprising steps of: - (12) identification, in images acquired by the vision sensor, of characteristic elements of the images representing characteristic elements of the environment, - (14) calculation of at least one condensed measurement as a function of characteristic elements of at least two images acquired at different instants, - (16) estimation of the motion of the carrier by a navigation filter, as a function of navigation measurements carried out and as a function of the condensed measurement, in which the condensed measurement is calculated as a function furthermore of an a priori estimation of the motion, as provided by the navigation filter. |
