Planar Pose Estimation using a Camera and Single-Station Ranging Measurements Chen Zhu 1 , Gabriele Giorgi 1 , and Christoph G ¨ unther 1,2 1 Institute for Communications and Navigation, Department of Electrical and Computer Engineering, Technische Universit¨ at M¨ unchen, Munich, Germany Email: {chen.zhu, gabriele.giorgi}@tum.de 2 Institute of Communications and Navigation, German Aerospace Center (DLR), Oberpfaffenhofen, Germany Email: christoph.guenther@dlr.de BIOGRAPHY Mr. Chen Zhu is currently pursuing his Ph.D. at Technische Universit¨ at M¨ unchen as a full-time researcher at the Institute for Communications and Navigation. He received his B.Sc. in Automation Engineering from Tsinghua University, in Beijing, China in 2009, and his M.Sc. in Communications Engineering in 2011 from Technische Universit¨ atM¨ unchen, in Munich, Germany. His research interests include visual navigation, robotic swarm navigation, and multi-sensor fusion in autonomous vehicle navigation. Dr. Gabriele Giorgi is a researcher at the Institute for Communications and Navigation, Technische Universit¨ at M¨ unchen, in Munich, Germany. He obtained a Ph.D. following his work on Global Navigation Satellite System (GNSS) for aerospace applications from the Delft Institute of Earth Observation and Space Systems (DEOS), Delft University of Technology, in Delft, The Netherlands. He holds a M.Sc. degree in space engineering from the University of Rome ”La Sapienza” and a B.Sc. degree in aerospace engineering from the same university. His main research focuses on satellite navigation, visual navigation and multi-sensor fusion. Prof. Christoph G¨ unther studied theoretical physics at the Swiss Federal Institute of Technology in Zurich, Switzerland. He received his diploma in 1979 and completed his Ph.D. in 1984. He worked on research in cryptography, coding, communication, and information theory with Asea Brown Boveri, Ascom and Ericsson. Since 2003, he is the Director of the Institute of Com- munication and Navigation at the German Aerospace Center (DLR). The institute employs around 120 scientists. Since 2004, G¨ unther is additionally holding the Chair of Communication and Navigation at Technische Universit¨ at M¨ unchen (TUM). The focus of his research work is on navigation. At TUM, he and his team are developing algorithms for achieving a high accuracy. At DLR, the focus is on achieving high levels of integrity. ABSTRACT Cameras are widely used for localization and navigation in GNSS-denied environments. By exploiting VSLAM (Visual Simul- taneous Localization and Mapping) techniques, vehicles equipped with cameras are capable of estimating their own trajectories and simultaneously building a map of the surrounding environment. Due to constraints on payload size, weight, and costs, many VSLAM applications must be based on a single camera. However, the associated monocular estimation of the vehicle trajectory and the map is ambiguous by a scale factor. The purpose of this work is to show how the correct scale factor can be estimated in planar motion cases by exploiting range measurements from a single station. The proposed method is independent of the VSLAM algorithm used for ego-motion estimation of the vehicle.