Open AccessSupport subspace method and conforming estimation in autonomous navigation tasks
Author(s) -
В. А. Фурсов,
E. Yu. Minaev,
A. P. Kotov,
Denis Zherdev
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/984/1/012034
Subject(s) - landmark , linear subspace , subspace topology , reliability (semiconductor) , computer science , set (abstract data type) , scheme (mathematics) , artificial intelligence , data mining , computer vision , data set , estimation , pattern recognition (psychology) , mathematics , engineering , mathematical analysis , power (physics) , physics , geometry , systems engineering , quantum mechanics , programming language
The article discusses the technology of autonomous navigation by optical observations. A scheme based on the recognition of three-dimensional landmarks is considered. To improve the accuracy and reliability of recognition, a survey model is constructed for each landmark. When calculating the parameters of this model, the most conformed data is selected. The problem of recognition is solved using the method of support subspaces. Support subspaces are formed from a set of vectors of each reference landmark. An important advantage of the technology is the ability to refine the landmark models based on the results of current observations during operation.