Vision-based Positioning with a Single Camera and 3D Maps: Accuracy and Reliability Analysis

In an effort to supplement the available satelite-based positioning technology and extend such high level positioning capability to GPS-denied environments, a method of vision-based positioning with the use of single camera and newly defined 3D maps is proposed. Besides, only natural landmarks are required in the proposed method. Absolute position and orientation information can be provided in six degree of freedom. Our work here is to address the accuracy and reliability concerns of such a vision-based navigation system. The main contribution will be the newly defined 3D map and the adoption of photogrammetric 6DOF pose estimation method to improve positioning accuracy. Dilution of Precisions (DOPs) are introduced to evaluate positioning precision within the vision-based positioning domain. Quality control strategies are also applied to detect outliers in the observation and strengthen system reliability

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