A Laser-Aided Inertial Navigation System (L-INS) for human localization in unknown indoor environments
| Autor: | Stergios I. Roumeliotis, Gian Luca Mariottini, Faraz Mohammad Mirzaei, Joel A. Hesch |
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| Rok vydání: | 2010 |
| Předmět: |
Engineering
Laser scanning business.industry Orientation (computer vision) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Initialization Kalman filter Simultaneous localization and mapping Extended Kalman filter Inertial measurement unit Computer vision Artificial intelligence business Inertial navigation system |
| Zdroj: | ICRA |
| DOI: | 10.1109/robot.2010.5509693 |
| Popis: | This paper presents a novel 3D indoor Laser-aided Inertial Navigation System (L-INS) for the visually impaired. An Extended Kalman Filter (EKF) fuses information from an Inertial Measurement Unit (IMU) and a 2D laser scanner, to concurrently estimate the six degree-of-freedom (d.o.f.) position and orientation (pose) of the person and a 3D map of the environment. The IMU measurements are integrated to obtain pose estimates, which are subsequently corrected using line-to-plane correspondences between linear segments in the laser-scan data and orthogonal structural planes of the building. Exploiting the orthogonal building planes ensures fast and efficient initialization and estimation of the map features while providing human-interpretable layout of the environment. The L-INS is experimentally validated by a person traversing a multistory building, and the results demonstrate the reliability and accuracy of the proposed method for indoor localization and mapping. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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