Design and Analysis of a Portable Indoor Localization Aid for the Visually Impaired
Design and Analysis of a Portable Indoor Localization Aid for the Visually Impaired
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DOI：
10.1177/0278364910373160
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发表时间：
2010-09-01
影响因子：
9.2
通讯作者：
Roumeliotis, Stergios I.
中科院分区：
文献类型：
--
作者：
Hesch, Joel A.;Roumeliotis, Stergios I.
在本文中，我们提出了一个便携式的位置和方向（姿态）估计辅助视障人士的设计和分析。我们的原型导航辅助包括一个脚上安装的计步器和一个白色手杖安装的传感包，其中包括一个三轴陀螺仪和一个二维（2D）激光扫描仪。我们引入了一个两层的估计器，跟踪的3D方向的白色手杖在第一层，和2D位置的人举行的手杖在第二层。我们的算法采用了一个已知的建筑物地图更新的人的位置，并利用建筑布局中的三维结构指南针。我们分析研究了线性化动力系统的可观测性，并给出了可观测性的充分条件。我们评估我们的定位援助的真实世界的性能，并证明其准确，实时的人体定位的可靠性。
In this paper, we present the design and analysis of a portable position and orientation (pose) estimation aid for the visually impaired. Our prototype navigation aid consists of a foot-mounted pedometer and a white cane-mounted sensing package, which comprises a three-axis gyroscope and a two-dimensional (2D) laser scanner. We introduce a two-layered estimator that tracks the 3D orientation of the white cane in the first layer, and the 2D position of the person holding the cane in the second layer. Our algorithm employs a known building map to update the person's position, and exploits perpendicularity in the building layout as a 3D structural compass. We analytically study the observability properties of the linearized dynamical system, and we provide sufficient observability conditions. We evaluate the real-world performance of our localization aid, and demonstrate its reliability for accurate, real-time human localization.