{"title":"Fusing visual tags and inertial information for indoor navigation","authors":"D. Zachariah, M. Jansson","doi":"10.1109/PLANS.2012.6236924","DOIUrl":null,"url":null,"abstract":"We present a navigation system based on a monocular camera and an inertial measurement unit. The system detects visual tags and fuses the measurements on the image plane with inertial signals to perform pose estimation and localization using a Sigma-Point Kalman filter. The tags are detected by edge-based feature extraction and channel codes. During periods in which tags are not visible, epipolar constraints, arising from past views, are exploited to significantly reduce the position error growth rate. The experimental results in an office building indicate capabilities for indoor navigation.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"126 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PLANS.2012.6236924","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
We present a navigation system based on a monocular camera and an inertial measurement unit. The system detects visual tags and fuses the measurements on the image plane with inertial signals to perform pose estimation and localization using a Sigma-Point Kalman filter. The tags are detected by edge-based feature extraction and channel codes. During periods in which tags are not visible, epipolar constraints, arising from past views, are exploited to significantly reduce the position error growth rate. The experimental results in an office building indicate capabilities for indoor navigation.
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