{"title":"CHAMELEON: Visual-inertial indoor navigation","authors":"J. Rydell, E. Emilsson","doi":"10.1109/PLANS.2012.6236925","DOIUrl":null,"url":null,"abstract":"This paper presents a study of an indoor navigation system, Chameleon. The system is based on simultaneous localization and mapping (SLAM), using a stereo camera combined with an inertial measurement unit (IMU). Results from a number of navigation experiments are shown. Some experiments were performed in parallel with a foot-mounted system, Centipede, and results from this system are shown as a comparison. Additionally, the ability of the camera-based system to generate building maps is demonstrated.","PeriodicalId":282304,"journal":{"name":"Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"21","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.2012.6236925","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 21
Abstract
This paper presents a study of an indoor navigation system, Chameleon. The system is based on simultaneous localization and mapping (SLAM), using a stereo camera combined with an inertial measurement unit (IMU). Results from a number of navigation experiments are shown. Some experiments were performed in parallel with a foot-mounted system, Centipede, and results from this system are shown as a comparison. Additionally, the ability of the camera-based system to generate building maps is demonstrated.
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