TY - GEN
T1 - A 3D pose estimator for the visually impaired
AU - Hesch, Joel A.
AU - Mirzaei, Faraz M.
AU - Mariottini, Gian Luca
AU - Roumeliotis, Stergios
PY - 2009/12/11
Y1 - 2009/12/11
N2 - This paper presents an indoor localization system for the visually impaired. The basis of our system is an Extended Kalman Filter (EKF) for six degree-of-freedom (d.o.f.) position and orientation (pose) estimation. The sensing platform consists of an Inertial Measurement Unit (IMU) and a 2D laser scanner. 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 known 3D structural planes of the building. Furthermore, we utilize Lie derivatives to show that the system is observable when at least three planes are detected by the laser scanner. Experimental results are presented that demonstrate the reliability of the proposed method for accurate and realtime indoor localization.
AB - This paper presents an indoor localization system for the visually impaired. The basis of our system is an Extended Kalman Filter (EKF) for six degree-of-freedom (d.o.f.) position and orientation (pose) estimation. The sensing platform consists of an Inertial Measurement Unit (IMU) and a 2D laser scanner. 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 known 3D structural planes of the building. Furthermore, we utilize Lie derivatives to show that the system is observable when at least three planes are detected by the laser scanner. Experimental results are presented that demonstrate the reliability of the proposed method for accurate and realtime indoor localization.
UR - http://www.scopus.com/inward/record.url?scp=76249095616&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2009.5354060
DO - 10.1109/IROS.2009.5354060
M3 - Conference contribution
AN - SCOPUS:76249095616
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 2716
EP - 2723
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -