期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2004
卷号：XXXV Part B5
页码：252-257
出版社：Copernicus Publications
摘要：In this paper, a GPS-independent mobile navigation and mapping system is introduced. This system employs the photogrammetric intersection to determine the coordinates of the surrounding objects and then it uses these newly known objects to compute its own position, when it moves, by the photogrammetric resection. The photogrammetric resection output – the exterior orientation parameters – is then used as external measurements in an INS Kalman Filer to compute the filtered exterior orientation parameters to do the intersection. This methodology of navigation and mapping is applied in the robotics community using different sensors and methods, where it is called Simultaneous Localisation And Mapping (SLAM); SLAM is the problem of mapping an area and at the same time using the map to locate the robot. In this paper, the solution for SLAM by integrating photogrammetry resection output and INS via a Kalman Filer is described
