Patent Document ID: 9037411
Application ID: 13469356
Patent Status: 1

Claim One:
1. A vision based navigation system, the system comprising: an inertial measurement unit configured to provide inertial measurements for a vehicle; at least one image sensor configured to acquire measurements of the environment of the vehicle; one or more processing units configured to: calculate a navigation solution for the vehicle based on the inertial measurements; identify a plurality of landmarks in the acquired measurements; identify a plurality of usable landmarks from the plurality of landmarks; select a subset of useable landmarks from the plurality of useable landmarks such that the subset of landmarks has a smaller dilution of precision than other possible subsets of landmarks from the plurality of useable landmarks, wherein the dilution of precision is a scalar amplification factor of measurement errors that are calculated based on a geometry matrix of the subset of useable landmarks, wherein the geometry matrix includes information about the position of the subset of useable landmarks relative to the vehicle; and calculate an updated navigation solution based on the subset of landmarks.