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Fusing visual tags and inertial information for indoor navigation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
2012 (English)In: 2012 IEEE/ION Position Location And Navigation Symposium (PLANS), IEEE , 2012, 535-540 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE , 2012. 535-540 p.
Series
IEEE - ION Position Location and Navigation Symposium, ISSN 2153-358X
Keyword [en]
visual tags, epipoles, sensor fusion, inertial navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-32326DOI: 10.1109/PLANS.2012.6236924ISI: 000309273900068Scopus ID: 2-s2.0-84866258772ISBN: 978-146730386-6 (print)OAI: oai:DiVA.org:kth-32326DiVA: diva2:410044
Conference
2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012; Myrtle Beach, SC; 23 April 2012 through 26 April 2012
Funder
ICT - The Next Generation
Note

QC 20110412. Updated from manuscript to conference paper.

Available from: 2011-04-12 Created: 2011-04-12 Last updated: 2013-04-15Bibliographically approved
In thesis
1. Fusing Visual and Inertial Information
Open this publication in new window or tab >>Fusing Visual and Inertial Information
2011 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2011. vii, 21 p.
Series
Trita-EE, ISSN 1653-5146 ; 2011:023
Keyword
sensor fusion, inertial measurement unit, monocular camera, inertial navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-32112 (URN)978-91-7415-919-6 (ISBN)
Presentation
2011-04-05, Q2, KTH Royal Institute of Technology, Stockholm, 13:15 (English)
Opponent
Supervisors
Note
QC 20110412Available from: 2011-04-12 Created: 2011-04-06 Last updated: 2011-04-12Bibliographically approved

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Jansson, Magnus

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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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  • text
  • asciidoc
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