Combining Bundle Adjustment with a Digital Terrain Map: Soft and hard constraints

Amir Geva, Barak Pinkovich, Ehud Rivlin, Hector Rotstein

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


This paper presents an algorithm for computing a pose solution based on constraining the Bundle Adjustment algorithm with a Digital Terrain Map. The approach is motivated by the difficulties observed when using previous schemes for solving realistic problems. Some specific implementation aspects are reviewed, and in particular an algorithm for approximating the sampled DTM with a smooth surface is discussed. The paper contains a thorough simulation study and the results of an actual flight test. The implementation of the algorithm is shown to have good convergence properties, even under relatively hard scenarios, and a consistent behavior when the parameters characterizing the problem are varied.

Original languageEnglish
Title of host publication2017 European Navigation Conference, ENC 2017
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)9781509059225
StatePublished - 20 Jun 2017
Externally publishedYes
Event25th European Navigation Conference, ENC 2017 - Lausanne, Switzerland
Duration: 9 May 201712 May 2017

Publication series

Name2017 European Navigation Conference, ENC 2017


Conference25th European Navigation Conference, ENC 2017

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Aerospace Engineering

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