Monocular Camera and IMU Integration for Indoor Position Estimation
文献类型：会议论文
| 作者 | Zhang YL(张吟龙) ; Tan JD(谈金东); Zeng ZM(曾子铭); Liang W(梁炜); Xia Y(夏晔)
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| 出版日期 | 2014 |
| 会议名称 | 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) |
| 会议日期 | August 26-30 |
| 会议地点 | Chicago, IL, USA |
| 页码 | 1198-1201 |
| 中文摘要 | This paper presents a monocular camera (MC) and inertial measurement unit (IMU) integrated approach for indoor position estimation. Unlike the traditional estimation methods, we fix the monocular camera downward to the floor and collect successive frames where textures are orderly distributed and feature points robustly detected, rather than using forward oriented camera in sampling unknown and disordered scenes with pre-determined frame rate and auto-focus metric scale. Meanwhile, camera adopts the constant metric scale and adaptive frame rate determined by IMU data. Furthermore, the corresponding distinctive image feature point matching approaches are employed for visual localizing, i.e., optical flow for fast motion mode; Canny Edge Detector & Harris Feature Point Detector & Sift Descriptor for slow motion mode. For superfast motion and abrupt rotation where images from camera are blurred and unusable, the Extended Kalman Filter is exploited to estimate IMU outputs and to derive the corresponding trajectory. Experimental results validate that our proposed method is effective and accurate in indoor positioning. Since our system is computationally efficient and in compact size, it's well suited for visually impaired people indoor navigation and wheelchaired people indoor localization. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-7929-0 |
| WOS记录号 | WOS:000350044701049 |
| 源URL | [http://ir.sia.cn/handle/173321/15368]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 推荐引用方式 GB/T 7714 | Zhang YL,Tan JD,Zeng ZM,et al. Monocular Camera and IMU Integration for Indoor Position Estimation[C]. 见:2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). Chicago, IL, USA. August 26-30. |
入库方式： OAI收割
来源：沈阳自动化研究所
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