Patent ID: 8676498
Filing Date: 2014-03-18
Classification: G01C,G01S,G05D

Abstract:
1. A navigation device, comprising: a monocular camera configured to capture image frames at discrete time intervals; an inertial measurement unit configured to measure angular rate and acceleration; and a processor coupled to the monocular camera and the inertial measurement unit, wherein the processor is configured to execute software, wherein the software comprises a feature extraction and data association functionality and a filter functionality that: wherein the processor determines the position correction by calculating a set of 3D coordinates of the one or more features and stores the set of 3D coordinates in a landmark database, wherein the filter functionality comprises a hybrid extended Kalman filter having state vectors including position, velocity, and attitude, representations of tracked features in the landmark database, and a focal length f of the at least one monocular camera; and