Abstract: The algorithm of simultaneous estimation of motion parameters and scene structure using the integrated navigation system consisting from inertial sensors (three rate gyros and three accelerometers) and TV camera has been presented. All mentioned sensors are rigidly fixed to the body of a moving object. It is assumed that the inertial sensors are characterized by constant biases. The recognizable landmarks existing in the scene on known locations in the reference coordinate frame are assumed also. It is enabled by parallel processing of information in two independent navigation systems that they may correct each other, in order to estimate moving object's linear and angular position relative to the landmark as well as it's linear and angular velocities in an optimal fashion.
Keywords: Inertial navigation system, visual navigation system, dynamic vision, TV camera.