摘要翻译：
提出了一种利用图像和数字地形图中的相应特征进行位姿和运动估计的算法。使用数字地形（或数字高程）地图（DTM/DEM）作为全局参考，可以恢复相机的绝对位置和方向。为了做到这一点，DTM被用来在两个连续帧中对应的特征之间制定一个约束。数据的利用提高了惯性导航算法的鲁棒性和精度。采用扩展Kalman滤波将惯导算法和基于视觉的导航算法的结果结合起来。通过数值仿真验证了该算法的可行性。
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英文标题：
《Vision-Based Navigation I: A navigation filter for fusing
  DTM/correspondence updates》
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作者：
Oleg Kupervasser, Vladimir Voronov
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最新提交年份：
2012
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分类信息：

一级分类：Computer Science        计算机科学
二级分类：Computer Vision and Pattern Recognition        计算机视觉与模式识别
分类描述：Covers image processing, computer vision, pattern recognition, and scene understanding. Roughly includes material in ACM Subject Classes I.2.10, I.4, and I.5.
涵盖图像处理、计算机视觉、模式识别和场景理解。大致包括ACM课程I.2.10、I.4和I.5中的材料。
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一级分类：Computer Science        计算机科学
二级分类：Artificial Intelligence        人工智能
分类描述：Covers all areas of AI except Vision, Robotics, Machine Learning, Multiagent Systems, and Computation and Language (Natural Language Processing), which have separate subject areas. In particular, includes Expert Systems, Theorem Proving (although this may overlap with Logic in Computer Science), Knowledge Representation, Planning, and Uncertainty in AI. Roughly includes material in ACM Subject Classes I.2.0, I.2.1, I.2.3, I.2.4, I.2.8, and I.2.11.
涵盖了人工智能的所有领域，除了视觉、机器人、机器学习、多智能体系统以及计算和语言（自然语言处理），这些领域有独立的学科领域。特别地，包括专家系统，定理证明（尽管这可能与计算机科学中的逻辑重叠），知识表示，规划，和人工智能中的不确定性。大致包括ACM学科类I.2.0、I.2.1、I.2.3、I.2.4、I.2.8和I.2.11中的材料。
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英文摘要：
  An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.
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PDF链接：
https://arxiv.org/pdf/1107.0399