[go: up one dir, main page]

Rydell et al., 2012 - Google Patents

CHAMELEON: Visual-inertial indoor navigation

Rydell et al., 2012

Document ID
8555668213552902978
Author
Rydell J
Emilsson E
Publication year
Publication venue
Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium

External Links

Snippet

This paper presents a study of an indoor navigation system, Chameleon. The system is based on simultaneous localization and mapping (SLAM), using a stereo camera combined with an inertial measurement unit (IMU). Results from a number of navigation experiments …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G01S1/76—Systems for determining direction or position line

Similar Documents

Publication Publication Date Title
Winterhalter et al. Accurate indoor localization for RGB-D smartphones and tablets given 2D floor plans
US9892491B2 (en) Systems and methods for processing mapping and modeling data
Pfrommer et al. Penncosyvio: A challenging visual inertial odometry benchmark
Li et al. NRLI-UAV: Non-rigid registration of sequential raw laser scans and images for low-cost UAV LiDAR point cloud quality improvement
Rydell et al. CHAMELEON: Visual-inertial indoor navigation
Abdulrahim et al. Aiding low cost inertial navigation with building heading for pedestrian navigation
Nazemzadeh et al. Indoor positioning of a robotic walking assistant for large public environments
TWI485421B (en) Map matching device, system and method
US20090262974A1 (en) System and method for obtaining georeferenced mapping data
Hesch et al. A laser-aided inertial navigation system (l-ins) for human localization in unknown indoor environments
Niu et al. Pedestrian trajectory estimation based on foot-mounted inertial navigation system for multistory buildings in postprocessing mode
Ascher et al. Multi-floor map matching in indoor environments for mobile platforms
Liu et al. A LiDAR-aided indoor navigation system for UGVs
Kachurka et al. WeCo-SLAM: Wearable cooperative SLAM system for real-time indoor localization under challenging conditions
Ramezani et al. Indoor positioning by visual-inertial odometry
Emilsson et al. Chameleon on fire—thermal infrared indoor positioning
Karam et al. Integrating a low-cost mems imu into a laser-based slam for indoor mobile mapping
Sadruddin et al. An indoor navigation system using stereo vision, IMU and UWB sensor fusion
Khoshelham et al. Vehicle positioning in the absence of GNSS signals: Potential of visual-inertial odometry
Ehrlich et al. Pedestrian localisation inside buildings based on multi-sensor smartphones
Hsu et al. Application of multisensor fusion to develop a personal location and 3D mapping system
Sternberg et al. Precise indoor mapping as a basis for coarse indoor navigation
Kleinert et al. Inertial aided monocular SLAM for GPS-denied navigation
EP4332631A1 (en) Global optimization methods for mobile coordinate scanners
Kaiser et al. A maps-based angular PDF for navigation systems in indoor and outdoor environments