Abstract: A method of integrity monitoring for visual odometry comprises capturing a first image at a first time epoch with stereo vision sensors, capturing a second image at a second time epoch, and extracting features from the images. A temporal feature matching process is performed to match the extracted features, using a feature mismatching limiting discriminator. A range, or depth, recovery process is performed to provide stereo feature matching between two images taken by the stereo vision sensors at the same time epoch, using a range error limiting discriminator. An outlier rejection process is performed using a modified RANSAC technique to limit feature moving events. Feature error magnitude and fault probabilities are characterized using overbounding Gaussian models.

Abstract: A method of integrity monitoring for visual odometry comprises capturing a first image at a first time epoch with stereo vision sensors, capturing a second image at a second time epoch, and extracting features from the images. A temporal feature matching process is performed to match the extracted features, using a feature mismatching limiting discriminator. A range, or depth, recovery process is performed to provide stereo feature matching between two images taken by the stereo vision sensors at the same time epoch, using a range error limiting discriminator. An outlier rejection process is performed using a modified RANSAC technique to limit feature moving events. Feature error magnitude and fault probabilities are characterized using overbounding Gaussian models.