Systems and methods for image aided navigation

A vision aided navigation system, the system comprising:

• a processor coupled to a memory, wherein the processor executes code to implement:
• a feature extractor coupled to at least one image sensor, wherein the at least one image sensor outputs a plurality of image frames that capture a surrounding environment, wherein the feature extractor is configured to extract at least one image feature from a first image frame of the plurality of image frames taken by the at least one image sensor;
• a feature tracker configured to predict a location of the at least one image feature in a second image frame from the plurality of image frames taken by the at least one image sensor as a function of the location of the at least one image feature in the first image frame and a navigation solution estimated by a navigation filter, wherein the navigation filter is configured to estimate the navigation solution based on an input of navigation data from at least one navigation device and tracking of the location of the at least one image feature between the first image frame and the second image frame;
• and
• a dynamic localized parameter adjuster configured to adjust at least one image parameter of the second image frame by applying an image correction filter;
• wherein a feature track is associated with the at least one image feature, wherein the feature track comprises the location of the at least one image feature in each of the plurality of image frames, and wherein the feature track is stored in the memory;
• wherein the feature tracker is configured so that when the at least one image feature cannot be identified in the second image frame within a bounded region around the predicted location, the dynamic localized parameter adjuster adjusts the at least one image parameter within the bounded region by applying the image correction filter;
• wherein the bounded region comprises an area determined as a function of one or more of:
• the feature track, the location of the at least one image feature, a variance of a predicted location of an image feature position, and a change in the location of the at least one image feature in the plurality of image frames.