A 3D pose estimator for the visually impaired

Joel A. Hesch, Faraz M. Mirzaei, Gian Luca Mariottini, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2716-2723
Number of pages8
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

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Hesch, J. A., Mirzaei, F. M., Mariottini, G. L., & Roumeliotis, S. (2009). A 3D pose estimator for the visually impaired. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2716-2723). [5354060] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354060