A Wearable Interface for Topological Mapping and Localization in Indoor Environments
A Wearable Interface for Topological Mapping and Localization in Indoor Environments
复制标题
用于室内环境拓扑测绘和定位的可穿戴接口
DOI：
10.1007/11752967_5
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Thad Starner
中科院分区：
文献类型：
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作者：
Grant Schindler;Christian Metzger;Thad Starner
我们提出了一种新的方法，在室内环境中使用可穿戴手势接口的映射和定位。耳戴式FreeDigiter设备由红外接近传感器和双轴加速度计组成。用户通过佩戴我们的设备在环境中行走来构建新环境的拓扑图。加速度计用于识别脚步声，而接近传感器检测门口。在映射环境时，手指手势用于标记检测到的门口。一旦构建了地图，就采用粒子滤波器来跟踪用户在佩戴设备的同时走过所映射的环境。在该跟踪模式中，设备可以通过根据用户所占据的房间而不同地响应手指手势来用作上下文感知手势接口。我们目前的实验结果在家庭环境中的映射和定位。
We present a novel method for mapping and localization in indoor environments using a wearable gesture interface. The ear-mounted FreeDigiter device consists of an infrared proximity sensor and a dual axis accelerometer. A user builds a topological map of a new environment by walking through the environment wearing our device. The accelerometer is used to identify footsteps while the proximity sensor detects doorways. While mapping an environment, finger gestures are used to label detected doorways. Once a map is constructed, a particle filter is employed to track a user walking through the mapped environment while wearing the device. In this tracking mode, the device can be used as a context-aware gesture interface by responding to finger gestures differently according to which room the user occupies. We present experimental results for both mapping and localization in a home environment.