Development of an indoor positioning and navigation system using monocular SLAM and IMU

Yu Ching Mai, Ying Chih Lai

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

The positioning and navigation systems based on Global Positioning System (GPS) have been developed over past decades and have been widely used for outdoor environment. However, high-rise buildings or indoor environments can block the satellite signal. Therefore, many indoor positioning methods have been developed to respond to this issue. In addition to the distance measurements using sonar and laser sensors, this study aims to develop a method by integrating a monocular simultaneous localization and mapping (MonoSLAM) algorithm with an inertial measurement unit (IMU) to build an indoor positioning system. The MonoSLAM algorithm measures the distance (depth) between the image features and the camera. With the help of Extend Kalman Filter (EKF), MonoSLAM can provide real-time position, velocity and camera attitude in world frame. Since the feature points will not always appear and can't be trusted at any time, a wrong estimation of the features will cause the estimated position diverge. To overcome this problem, a multisensor fusion algorithm was applied in this study by using the multi-rate Kalman Filter. Finally, from the experiment results, the proposed system was verified to be able to improve the reliability and accuracy of the MonoSLAM by integrating the IMU measurements.

原文English
主出版物標題First International Workshop on Pattern Recognition
編輯Xudong Jiang, Guojian Chen, Chiharu Ishii, Genci Capi
發行者SPIE
ISBN(電子)9781510604308
DOIs
出版狀態Published - 2016
事件1st International Workshop on Pattern Recognition - Tokyo, Japan
持續時間: 2016 5月 112016 5月 13

出版系列

名字Proceedings of SPIE - The International Society for Optical Engineering
10011
ISSN(列印)0277-786X
ISSN(電子)1996-756X

Other

Other1st International Workshop on Pattern Recognition
國家/地區Japan
城市Tokyo
期間16-05-1116-05-13

All Science Journal Classification (ASJC) codes

  • 電子、光磁材料
  • 凝聚態物理學
  • 電腦科學應用
  • 應用數學
  • 電氣與電子工程

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