| 摘要 |
A method (10) for estimating a carrier's movement relative to an environment (20) with respect to which the carrier moves, the carrier having at least one navigation sensor and one vision sensor producing 2D images of the environment installed, The method (10) includes the following steps: i) (12) identifying, in images acquired by the vision sensor, characteristic elements of the images representing characteristic elements of the environment, ii) (14) calculating, based on characteristic elements of a triplet of images acquired at different times, at least one condensed measurement representative of characteristics of the carrier's movement during the acquisition of the triplet's images, iii) (16) estimating the movement by a navigation filter, based on navigation measurements made by the navigation sensor and on the at least one condensed measurement. A computing device for a navigation system of a carrier is also described.
|
