TY - GEN
T1 - An indoor localization aid for the visually impaired
AU - Hesch, Joel A.
AU - Roumeliotis, Stergios I.
PY - 2007
Y1 - 2007
N2 - This paper presents an indoor human localization system for the visually impaired. A prototype portable device has been implemented, consisting of a pedometer and a standard white cane, on which a laser range finder and a 3-axis gyroscope have been mounted. A novel pose estimation algorithm has been developed for robustly estimating the heading and position of a person navigating in a known building. The basis of our estimation scheme is a two-layered Extended Kaiman Filter (EKF) for attitude and position estimation. The first layer maintains an attitude estimate of the white cane, which is subsequently provided to the second layer where a position estimate of the user is generated. Experimental results are presented that demonstrate the reliability of the proposed method for accurate, real-time human localization.
AB - This paper presents an indoor human localization system for the visually impaired. A prototype portable device has been implemented, consisting of a pedometer and a standard white cane, on which a laser range finder and a 3-axis gyroscope have been mounted. A novel pose estimation algorithm has been developed for robustly estimating the heading and position of a person navigating in a known building. The basis of our estimation scheme is a two-layered Extended Kaiman Filter (EKF) for attitude and position estimation. The first layer maintains an attitude estimate of the white cane, which is subsequently provided to the second layer where a position estimate of the user is generated. Experimental results are presented that demonstrate the reliability of the proposed method for accurate, real-time human localization.
UR - http://www.scopus.com/inward/record.url?scp=36348946855&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348946855&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364021
DO - 10.1109/ROBOT.2007.364021
M3 - Conference contribution
AN - SCOPUS:36348946855
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3545
EP - 3551
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -