Fusing visual tags and inertial information for indoor navigation
2012 (English)In: 2012 IEEE/ION Position Location And Navigation Symposium (PLANS), IEEE , 2012, 535-540 p.Conference paper (Refereed)
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.
, IEEE - ION Position Location and Navigation Symposium, ISSN 2153-358X
visual tags, epipoles, sensor fusion, inertial navigation
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-32326DOI: 10.1109/PLANS.2012.6236924ISI: 000309273900068ScopusID: 2-s2.0-84866258772ISBN: 978-146730386-6OAI: oai:DiVA.org:kth-32326DiVA: diva2:410044
2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012; Myrtle Beach, SC; 23 April 2012 through 26 April 2012
FunderICT - The Next Generation
QC 20110412. Updated from manuscript to conference paper.2011-04-122011-04-122013-04-15Bibliographically approved