A two-dimensional pedestrian navigation solution aided with a visual gyroscope and a visual odometer
A two-dimensional pedestrian navigation solution aided with a visual gyroscope and a visual odometer
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DOI：
10.1007/s10291-012-0302-8
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发表时间：
2013-10-01
期刊：
影响因子：
4.9
通讯作者：
Chen, Ruizhi
中科院分区：
文献类型：
--
作者：
Ruotsalainen, Laura;Kuusniemi, Heidi;Chen, Ruizhi
无线局域网 (WLAN) 和 INS 等不同定位系统的集成已被证明是在全球导航卫星系统充满挑战的环境中最有前途的导航方法。然而，集成解决方案受到 INS 中传感器引起的误差以及 WLAN 的低可用性和基础设施依赖性的影响。视觉辅助是增强这些系统的补充方法，因为它会遇到不同性质的错误和可用性问题。我们引入了“视觉陀螺仪”和“视觉里程计”的概念，其基础是通过跟踪连续图像之间的特征运动来恢复用户信息。所有计算的复杂度都足够低，可用于当前智能手机的导航。使用消失点位置观察相机方向，并将该信息转换为用户航向变化信息，并用于视觉里程计计算。视觉里程计基于特殊的相机配置和匹配的尺度不变特征变换特征的运动来检索相机平移信息。对这两种工具的性能进行了评估。在选定环境中进行的实验证明，视觉陀螺仪和视觉里程计的视觉辅助可显着改善二维导航解决方案。
Integration of different positioning systems such as wireless local area networks (WLAN) and INS has proven to be the most promising approach for navigation in global navigation satellite system challenging environments. However, the integrated solution suffers from the errors induced by the sensors in the INS and the low availability and infrastructure dependency of the WLAN. Visual aiding is a complementary method for augmenting these systems, because it suffers from errors and availability problems of a different nature. We introduce the concept of a "visual gyroscope" and a "visual odometer," based on recovering user information by tracking the feature motion between consecutive images. All calculations are of sufficiently low complexity to be adoptable for navigation with current smartphones. The camera orientation is observed using the vanishing point locations, and this information is transformed into user heading change information and also used for visual odometer calculations. The visual odometer retrieves the camera translation information based on a special camera configuration and the motion of the matched scale-invariant feature transform features. The performance of both of these tools is evaluated. Experiments in selected environments have proven that visual aiding with a visual gyroscope and visual odometer improves the two-dimensional navigation solution significantly.