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.
|Original language||English (US)|
|Title of host publication||2010 IEEE International Conference on Robotics and Automation, ICRA 2010|
|Number of pages||7|
|State||Published - 2010|
|Event||2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States|
Duration: May 3 2010 → May 7 2010
|Name||Proceedings - IEEE International Conference on Robotics and Automation|
|Other||2010 IEEE International Conference on Robotics and Automation, ICRA 2010|
|Period||5/3/10 → 5/7/10|
Bibliographical noteFunding Information:
The authors would like to thank the Broward County School System, especially the Broward County School Psychologists, for their help and participation in the project. Part of this study was carried out as part of Dr. Kathleen Knee's doctoral dissertation.