Maximum-Likelihood Aerial-to-Ground Landmark Matching for Drift Suppression in Lunar Visual–Inertial Navigation

Huseyin Duran
Huseyin Duran
¹Roketsan Inc., Ankara, Turkiye
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- For correspondence: [email protected]
and Ugur Murat Leloglu
Ugur Murat Leloglu
²Department of Astronautical Engineering, University of Turkish Aeronautical Association, Ankara, Turkiye

NAVIGATION: Journal of the Institute of Navigation
August 2026,
73
(1)
navi.782;
DOI: https://doi.org/10.33012/navi.782

FIGURE 4

Example of simulation and visual–inertial data generation

Inertial data generation includes post-processing of the position and orientation information. Producing the ground-truth labels before detector training involves post-processing of the color and semantic-labeled images recorded by the custom RP.

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Maximum-Likelihood Aerial-to-Ground Landmark Matching for Drift Suppression in Lunar Visual–Inertial Navigation

Huseyin Duran

Huseyin Duran

and Ugur Murat Leloglu

Ugur Murat Leloglu

Institute of Navigation

August 2026,

73

(1)

navi.782;

DOI: 10.33012/navi.782

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Maximum-Likelihood Aerial-to-Ground Landmark Matching for Drift Suppression in Lunar Visual–Inertial Navigation

Huseyin Duran

Huseyin Duran

and Ugur Murat Leloglu

Ugur Murat Leloglu

Institute of Navigation

August 2026,

73

(1)

navi.782;

DOI: 10.33012/navi.782

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