An Indoor Wayfinding System Based on Geometric Features Aided Graph SLAM for the Visually Impaired.
An Indoor Wayfinding System Based on Geometric Features Aided Graph SLAM for the Visually Impaired.
复制标题
DOI：
10.1109/tnsre.2017.2682265
复制
发表时间：
2017-09
期刊：
影响因子：
--
通讯作者：
Ye C
中科院分区：
文献类型：
--
作者：
Zhang H;Ye C
本文提出了一种六自由度姿态估计方法和一种基于该方法的盲人室内寻路系统。PE方法涉及两个图形SLAM过程，以减小器件的累计位姿误差。第一步，从3D相机的点云中提取地板平面，并将其作为地标节点添加到六自由度SLAM图中，以减少滚转、俯仰和Z轴误差。第二步，提取墙线并将其纳入三自由度SLAM图中，以减小X、Y和偏航误差。该方法减少了六自由度位姿误差，与现有平面SLAM方法相比，计算时间更短，位姿精度更高。基于PE方法，开发了一种在室内环境中为视障人士导航的寻路系统。该系统使用估计的姿势和平面图来定位设备用户在建筑物中的位置，并通过语音界面宣布兴趣点和导航命令来引导用户。实验结果验证了该方法的有效性，并表明该系统可以大大减轻室内导航任务。
This paper presents a 6-DOF pose estimation (PE) method and an indoor wayfinding system based on the method for the visually impaired. The PE method involves two graph SLAM processes to reduce the accumulative pose error of the device. In the first step, the floor plane is extracted from the 3D camera’s point cloud and added as a landmark node into the graph for 6-DOF SLAM to reduce roll, pitch and Z errors. In the second step, the wall lines are extracted and incorporated into the graph for 3-DOF SLAM to reduce X, Y and yaw errors. The method reduces the 6-DOF pose error and results in more accurate pose with less computational time than the state-of-the-art planar SLAM methods. Based on the PE method, a wayfinding system is developed for navigating a visually impaired person in an indoor environment. The system uses the estimated pose and floorplan to locate the device user in a building and guides the user by announcing the points of interest and navigational commands through a speech interface. Experimental results validate the effectiveness of the PE method and demonstrate that the system may substantially ease an indoor navigation task.