Ahmed Zakaria Abdelkhalek Bebars <br/><br/>
A fast algorithm for vision aided inertial navigation /  
 خوارزم سريع للملاحة بالقصور الذاتى بمساعدة الرؤية 
Ahmed Zakaria Abdelkhalek Bebars ; Supervised Amin Mohamed Nassar , Mohsen Mohamed Mahroos 
 - Cairo :   Ahmed Zakaria Abdelkhalek Bebars ,   2012 
 - 80P. :   charts , facsimiles ;   30cm 
<br/><br/>Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electronics and Communication 
<br/><br/> Ttis thesis investigates a vision - aided inertial navigation system that integrates a camera with inertial sensors . The system relies on pre stored map for the land area under the vehicle to be compared with the images captured by the camera to estimate vehicle`s position . The measuring devices of the system are interfaced to the CPU which implements an extended kalman filter estimator for the state of the vehicle its position orientation velocity gyroscope bias and accelerometer bias 
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<br/><br/><label>Subjects--Index Terms: </label>Feature tracking  Image processing  Vision aided inertial navigation