Versatile geo-referenced maps for indoor navigation of pedestrians
Versatile geo-referenced maps for indoor navigation of pedestrians
复制标题
用于行人室内导航的多功能地理参考地图
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Klaus Wehrle
中科院分区：
文献类型：
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作者：
M. Peter;D. Fritsch;Bernhard Schäfer;A. Kleusberg;J. Link;Klaus Wehrle
我们提出了一个系统，使用户能够捕获构建建筑物内部地图所需的数据，并辅以利用这些地图的基于智能手机的行人导航应用程序。为此，用户拍摄疏散计划的照片，系统使用合适的图像处理管道对这些照片进行处理。因此，可以使用粗略的楼层地图，其中包括多边形房间轮廓和已识别的楼梯（如果可能）。此外，系统还从拍摄的平面图中得出用户的初始位置（在平面图中标记）和方向。粗略模型可以通过行人定位解决方案地理参考的几何或语义数据进一步细化。在原型配置中，两个安装在脚上的 IMU 用于通过扩展卡尔曼滤波器处理位置和方向，并使用门洞、楼梯和电梯等特征的导出位置。在我们的系统中，用户从存储库下载这些跟踪。我们向用户提供最终的楼层地图。基于区域的粗略模型被转换为可步行路径，并使用疏散计划中提供的附加语义注释进行注释。此后，智能手机用户可以仅使用本地可用信息轻松使用这些地图进行室内导航，而无需建筑物所有者向公众提供地图。因此，我们提出的系统可以轻松创建和完善直接适用于导航的室内地图。
We propose a system enabling users to capture the data needed to construct maps of building interiors, complemented by a smartphone-based pedestrian navigation application utilizing these maps. For this purpose, the user captures photographs of evacuation plans which are processed by the system using a suitable image processing pipeline. As a result, a coarse floor map is available, consisting of polygonal room outlines and identified staircases, where possible. Furthermore, the system derives the user’s initial position (which is marked in the plan) and orientation from the photographed plan. The coarse model can be further refined by geometric or semantic data geo-referenced by a pedestrian positioning solution. In a prototype configuration, two foot-mounted IMUs are used to process position and orientation with an extended Kalman Filter, using the such derived positions of features as door openings, stairs and elevators. In our system, the user downloads these traces from a repository. We make the final floor map available to the user. The coarse area-based model is transformed into walkable paths, annotated with additional semantic annotations, as available on the evacuation plan. Following this, smartphone users can easily use these maps for indoor navigation using only locally available information, without the need for a the building owner to make the maps available to the general public. Our proposed system therefore allows the easy creation and refinement of indoor maps directly applicable for navigation.