There is growing interest among smartphone users in the ability to determine their precise location in their environment for a variety of applications related to wayfinding, travel and shopping. While GPS provides valuable self-localization estimates, its accuracy is limited to approximately 10 meters in most urban locations. This paper focuses on the self-localization needs of blind or visually impaired travelers, who are faced with the challenge of negotiating street intersections. These travelers need more precise self-localization to help them align themselves properly to crosswalks, signal lights and other features such as walk light pushbuttons. We demonstrate a novel computer vision-based localization approach that is tailored to the street intersection domain. Unlike most work on computer vision-based localization techniques, which typically assume the presence of detailed, high-quality 3D models of urban environments, our technique harnesses the availability of simple, ubiquitous satellite imagery (e.g., Google Maps) to create simple maps of each intersection. Not only does this technique scale naturally to the great majority of street intersections in urban areas, but it has the added advantage of incorporating the specific metric information that blind or visually impaired travelers need, namely, the locations of intersection features such as crosswalks. Key to our approach is the integration of IMU (inertial measurement unit) information with geometric information obtained from image panorama stitchings. Finally, we evaluate the localization performance of our algorithm on a dataset of intersection panoramas, demonstrating the feasibility of our approach.
{"title":"Self-Localization at Street Intersections.","authors":"Giovanni Fusco, Huiying Shen, James M Coughlan","doi":"10.1109/CRV.2014.14","DOIUrl":"https://doi.org/10.1109/CRV.2014.14","url":null,"abstract":"<p><p>There is growing interest among smartphone users in the ability to determine their precise location in their environment for a variety of applications related to wayfinding, travel and shopping. While GPS provides valuable self-localization estimates, its accuracy is limited to approximately 10 meters in most urban locations. This paper focuses on the self-localization needs of blind or visually impaired travelers, who are faced with the challenge of negotiating street intersections. These travelers need more precise self-localization to help them align themselves properly to crosswalks, signal lights and other features such as walk light pushbuttons. We demonstrate a novel computer vision-based localization approach that is tailored to the street intersection domain. Unlike most work on computer vision-based localization techniques, which typically assume the presence of detailed, high-quality 3D models of urban environments, our technique harnesses the availability of simple, ubiquitous satellite imagery (e.g., Google Maps) to create simple maps of each intersection. Not only does this technique scale naturally to the great majority of street intersections in urban areas, but it has the added advantage of incorporating the specific metric information that blind or visually impaired travelers need, namely, the locations of intersection features such as crosswalks. Key to our approach is the integration of IMU (inertial measurement unit) information with geometric information obtained from image panorama stitchings. Finally, we evaluate the localization performance of our algorithm on a dataset of intersection panoramas, demonstrating the feasibility of our approach.</p>","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":" ","pages":"40-47"},"PeriodicalIF":0.0,"publicationDate":"2014-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/CRV.2014.14","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32658702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_7
Christian Gebken, G. Sommer
{"title":"Stochastically Optimal Epipole Estimation in Omnidirectional Images with Geometric Algebra","authors":"Christian Gebken, G. Sommer","doi":"10.1007/978-3-540-78157-8_7","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_7","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"22 1","pages":"85-97"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74203857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_32
N. Ohnishi, A. Imiya
{"title":"Visual Navigation of Mobile Robot Using Optical Flow and Visual Potential Field","authors":"N. Ohnishi, A. Imiya","doi":"10.1007/978-3-540-78157-8_32","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_32","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"270 1","pages":"412-426"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72748938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_26
C. Rasmussen, Donald Scott
{"title":"Terrain-Based Sensor Selection for Autonomous Trail Following","authors":"C. Rasmussen, Donald Scott","doi":"10.1007/978-3-540-78157-8_26","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_26","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"2 1","pages":"341-354"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78814359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_35
Lennart Wietzke, G. Sommer, Christian Schmaltz, J. Weickert
{"title":"Differential Geometry of Monogenic Signal Representations","authors":"Lennart Wietzke, G. Sommer, Christian Schmaltz, J. Weickert","doi":"10.1007/978-3-540-78157-8_35","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_35","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"1 1","pages":"454-465"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73019449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_8
B. Rosenhahn, T. Brox, D. Cremers, H. Seidel
{"title":"Modeling and Tracking Line-Constrained Mechanical Systems","authors":"B. Rosenhahn, T. Brox, D. Cremers, H. Seidel","doi":"10.1007/978-3-540-78157-8_8","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_8","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"30 1","pages":"98-110"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74286155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_5
Brian McKinnon, J. Baltes
{"title":"Fast Line-Segment Extraction for Semi-dense Stereo Matching","authors":"Brian McKinnon, J. Baltes","doi":"10.1007/978-3-540-78157-8_5","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_5","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"13 1","pages":"59-71"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73859963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_27
D. Hegazy, Joachim Denzler
{"title":"Generic Object Recognition Using Boosted Combined Features","authors":"D. Hegazy, Joachim Denzler","doi":"10.1007/978-3-540-78157-8_27","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_27","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"79 1","pages":"355-366"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82301300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_15
Fajie Li, R. Klette
{"title":"An Approximate Algorithm for Solving the Watchman Route Problem","authors":"Fajie Li, R. Klette","doi":"10.1007/978-3-540-78157-8_15","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_15","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"1 1","pages":"189-206"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86550534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-02-18DOI: 10.1007/978-3-540-78157-8_22
Shushi Guan, R. Klette
{"title":"Belief-Propagation on Edge Images for Stereo Analysis of Image Sequences","authors":"Shushi Guan, R. Klette","doi":"10.1007/978-3-540-78157-8_22","DOIUrl":"https://doi.org/10.1007/978-3-540-78157-8_22","url":null,"abstract":"","PeriodicalId":90684,"journal":{"name":"Proceeding of the ... Conference on Computer and Robot Vision. Conference on Computer and Robot Vision","volume":"32 1","pages":"291-302"},"PeriodicalIF":0.0,"publicationDate":"2008-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81103290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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