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

Amir Geva; Barak Pinkovich; Ehud Rivlin; Hector Rotstein

doi:10.1109/EURONAV.2017.7954218

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 proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

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 language	English
Title of host publication	2017 European Navigation Conference, ENC 2017
Publisher	Institute of Electrical and Electronics Engineers
Pages	272-278
Number of pages	7
ISBN (Electronic)	9781509059225
DOIs	https://doi.org/10.1109/EURONAV.2017.7954218
State	Published - 20 Jun 2017
Externally published	Yes
Event	25th European Navigation Conference, ENC 2017 - Lausanne, Switzerland Duration: 9 May 2017 → 12 May 2017

Publication series

Name	2017 European Navigation Conference, ENC 2017

Conference

Conference	25th European Navigation Conference, ENC 2017
Country/Territory	Switzerland
City	Lausanne
Period	9/05/17 → 12/05/17

ASJC Scopus subject areas

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

Access to Document

10.1109/EURONAV.2017.7954218

Cite this

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title = "Combining Bundle Adjustment with a Digital Terrain Map: Soft and hard constraints",

abstract = "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.",

author = "Amir Geva and Barak Pinkovich and Ehud Rivlin and Hector Rotstein",

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year = "2017",

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doi = "10.1109/EURONAV.2017.7954218",

language = "English",

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booktitle = "2017 European Navigation Conference, ENC 2017",

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}

Geva, A, Pinkovich, B, Rivlin, E & Rotstein, H 2017, Combining Bundle Adjustment with a Digital Terrain Map: Soft and hard constraints. in 2017 European Navigation Conference, ENC 2017., 7954218, 2017 European Navigation Conference, ENC 2017, Institute of Electrical and Electronics Engineers, pp. 272-278, 25th European Navigation Conference, ENC 2017, Lausanne, Switzerland, 9/05/17. https://doi.org/10.1109/EURONAV.2017.7954218

Combining Bundle Adjustment with a Digital Terrain Map: Soft and hard constraints. / Geva, Amir; Pinkovich, Barak; Rivlin, Ehud et al.
2017 European Navigation Conference, ENC 2017. Institute of Electrical and Electronics Engineers, 2017. p. 272-278 7954218 (2017 European Navigation Conference, ENC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Rivlin, Ehud

AU - Rotstein, Hector

PY - 2017/6/20

Y1 - 2017/6/20

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AB - 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.

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

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ASJC Scopus subject areas

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