Indoor Positioning and Navigation Based on Control Spherical Panoramic Images

  • 黃 聰哲

Student thesis: Master's Thesis


Continuous indoor and outdoor positioning and navigation is the goal to achieve in the field of mobile mapping technology However accuracy of positioning and navigation will be largely degraded in indoor or occluded areas due to receiving weak or less GNSS signals Targeting the need of high accuracy indoor and outdoor positioning and navigation for mobile mapping applications the objective of this study is to develop a novel method of indoor positioning and navigation with the use of spherical panoramic image (SPI) An SPI can provide widely field of view (FOV) than a frame image It not only breaks the limitation of FOV but also resolves the problem that handing a lot of images are confusing Two steps are planned in the technology roadmap Firstly establishing a control SPI database that contains a good number of well-distributed control SPIs pre-acquired in the target space A control SPI means an SPI with known exterior orientation parameters (EOPs) which can be solved with bundle network adjustment of SPIs Having a control SPI database the target space will be ready to provide the service of positioning and navigation Secondly the position and orientation parameters (POPs) of a newly taken SPI can be solved by using overlapped SPIs searched from the control SPI database The method of matching SPIs and finding conjugate image features will be developed and tested The test cases involve three different types Moreover this study proposes a suitable model for eliminate the incorrect matches between two overlapped SPIs The result reveals that using the model correctly can improve the efficiency and reliability of SPIs matching For validation two kinds of corresponding points were applied in the experiment The first kind involves manually measured points and the second kind involves automatic matched points so that the effect of matching can be tested The test field is in the indoor space of the Department of Geomatics The results show positioning errors less than a few centimeters for manually measured points The much larger errors resulted from improper matching pairs of corresponding points generated from automatic matching process This reveals the importance of the quality of corresponding points The numbers of corresponding points and the distribution of control SPIs are confirmed as reasons effecting the positioning result On the other hand for validating the feasibility of proposed method for the orientation computation We firstly simulated the control and query SPI with known EOPs so that the relative orientation and scale factor also can be calculated The corresponding points were also generated by simulation The result of simulation test shows that our theory is useful However the orientation result with realistic experiment is sometimes unstable This result deviates from our anticipation and puzzles us In this stage we still do not have a very clearly conclusion about orientation calculation What we can confirm so far is that the measurement errors of corresponding points will affect the orientation results based on the test of simulated data
Date of Award2016 Aug 23
Original languageEnglish
SupervisorYi-Hsing Tseng (Supervisor)

Cite this