Dynamic networks

Dynamic networks

Abstract:

Dynamics Networks (DNs) are a powerful tool for solving many sensor fusion problems arising in navigation and mapping applications. In aerial photogrammetry, DNs allow to fuse image, GNSS and raw inertial measurements in a single joint adjustment step, which has considerable advantages in terms of quality of the results and simplicity of the processing pipeline. This is not possible in state-of-the-art methods, where absolute/relative aerial orientation control is obtained from a preliminary fusion step, typically by means of extended Kalman filters, and then used in Bundle Adjustment. Other applications can be formulated in terrestrial mapping, where DNs allow for trajectory crossovers to be implicitly used to constrain the solution, and in the fusion of image and LiDAR measurements. This lecture will provide a comprehensive introduction to DNs from both a theoretical and practical point of view.