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Development of Vision-aided Navigation for a Wearable Outdoor Augmented Reality System

机译：可携带户外增强现实系统的视觉辅助导航的发展

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This paper describes the development of vision-aided navigation (i.e., pose estimation) for a wearable augmented reality system operating in natural outdoor environments. This system combines a novel pose estimation capability, a helmet-mounted see-through display, and a wearable processing unit to accurately overlay geo-registered graphics on the user's view of reality. Accurate pose estimation is achieved through integration of inertial, magnetic, GPS, terrain elevation data, and computer-vision inputs. Specifically, a helmet-mounted forward-looking camera and custom computer vision algorithms are used to provide measurements of absolute orientation (i.e., orientation of the helmet with respect to the Earth). These orientation measurements, which leverage mountainous terrain horizon geometry and/or known landmarks, enable the system to achieve significant improvements in accuracy compared to GPS/INS solutions of similar size, weight, and power, and to operate robustly in the presence of magnetic disturbances. Recent field testing activities, across a variety of environments where these vision-based signals of opportunity are available, indicate that high accuracy (less than 10 mrad) in graphics geo-registration can be achieved. This paper presents the pose estimation process, the methods behind the generation of vision-based measurements, and representative experimental results.
机译：本文介绍了在自然户外环境中运行的可穿戴增强现实系统的视觉辅助导航（即，姿势估计）的开发。该系统结合了新颖的姿势估计能力，头盔安装的透视显示器，以及可穿戴处理单元，以准确地覆盖用户的现实看法的地理登记的图形。通过集成惯性，磁性，GPS，地形高程数据和计算机视觉输入来实现精确的姿态估计。具体地，使用头盔安装的前瞻性相机和定制计算机视觉算法来提供绝对取向的测量（即，对地球的头盔的方向）。这些取向测量，利用山区地形地平线几何和/或已知的地标，使系统能够与类似尺寸，重量和功率的GPS / INS解决方案相比的准确性的显着改善，并且在磁扰动的存在下鲁棒地运行。最近的现场测试活动，跨各种环境，其中可获得这些视觉的机会信号，表明可以实现高精度（小于10个MRAD）图形​​地理登记。本文提出了姿势估计过程，基于视觉的测量的产生背后的方法，以及代表性实验结果。

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