An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines
Joint Authors
Xu, Xiaosu
Wu, Qiong
Yang, Bo
Zhang, Tao
Li, Yao
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-05
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
An indoor navigation system based on stereo camera and inertial sensors with points and lines is proposed to further improve the accuracy and robustness of the navigation system in complex indoor environments.
The point and line features, which are fast extracted by ORB method and line segment detector (LSD) method, are both employed in this system to improve its ability to adapt to complex environments.
In addition, two different representations of lines are adopted to improve the efficiency of the system.
Besides stereo camera, an inertial measurement unit (IMU) is also used in the system to further improve its accuracy and robustness.
An estimator is designed to integrate the camera and IMU measurements in a tightly coupled approach.
The experimental results show that the performance of the proposed navigation system is better than the point-only VINS and the vision-only navigation system with points and lines.
American Psychological Association (APA)
Yang, Bo& Xu, Xiaosu& Zhang, Tao& Li, Yao& Wu, Qiong. 2018. An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines. Journal of Sensors،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1201495
Modern Language Association (MLA)
Yang, Bo…[et al.]. An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines. Journal of Sensors No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1201495
American Medical Association (AMA)
Yang, Bo& Xu, Xiaosu& Zhang, Tao& Li, Yao& Wu, Qiong. An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1201495
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201495