A Laser-Aided Inertial Navigation System (L-INS) for human localization in unknown indoor environments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 5376-5382

  Hesch, Joel A ^a   Mirzaei, Faraz M ^a   Mariottini, Gian Luca ^a   Roumeliotis, Stergios I ^a  

^a UNIVERSITY OF MINNESOTA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

2D LASER SCANNERS; INDOOR ENVIRONMENT; INDOOR LOCALIZATION; INERTIAL MEASUREMENT UNIT; LINEAR SEGMENTS; MULTISTORY BUILDING; SCAN DATA; SIX DEGREE-OF-FREEDOM; STRUCTURAL PLANES; VISUALLY IMPAIRED;

INERTIAL NAVIGATION SYSTEMS; NAVIGATION; ROBOTICS; TALL BUILDINGS; UNITS OF MEASUREMENT;

THREE DIMENSIONAL;

EID: 77955823828     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509693     Document Type: Conference Paper

References (26)

1. S. Thrun, D. Fox, and W. Burgard, "Monte Carlo localization with mixture proposal distribution," in Proc. of the AAAI National Conference on Artificial Intelligence, Austin, TX, July 30-Aug. 3, 2000, pp. 859-865.
2. L. Iocchi and S. Pellegrini, "Building 3D maps with semantic elements integrating 2D laser, stereo vision and IMU on a mobile robot," in Proc. of the 2nd ISPRS Int. Workshop 3D-ARCH, Zurich, Switzerland, July 12-13, 2007.
3. D. Hähnel, W. Burgard, and S. Thrun, "Learning compact 3D models of indoor and outdoor environments with a mobile robot," Robotics and Autonomous Systems, vol. 44, no. 1, pp. 15-27, 2003.
4. D. Borrmann, J. Elseberg, K. Lingemann, A. Nüchter, and J. Hertzberg, "Globally consistent 3d mapping with scan matching," Robotics and Autonomous Systems, vol. 56, no. 2, pp. 130-142, 2008.
5. A. I. Mourikis and S. I. Roumeliotis, "A dual-layer estimator architecture for long-term localization," in Proc. of the Workshop on Visual Localization for Mobile Platforms, Anchorage, AK, June 2008, pp. 1-8.
6. J. Kim and S. Sukkarieh, "Real-time implementation of airborne inertial-SLAM," Robotics and Autonomous Systems, vol. 55, no. 1, pp. 62-71, 2007.
7. J. A. Hesch and S. I. Roumeliotis, "An indoor localization aid for the visually impaired," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Rome, Italy, Apr. 10-14, 2007, pp. 3545-3551.
8. J. A. Hesch, F. M. Mirzaei, G. L. Mariottini, and S. I. Roumeliotis, "A 3D pose estimator for the visually impaired," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, St. Louis, MO, Oct. 11-15, 2009, pp. 2716-2723.
9. V. Nguyen, A. Harati, A. Martinelli, R. Siegwart, and N. Tomatis, "Orthogonal SLAM: a step toward lightweight indoor autonomous navigation," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Beijing, China, Oct. 9-15, 2006, pp. 5007-5012.
10. H. Makino, I. Ishii, and M. Nakashizuka, "Development of navigation system for the blind using GPS and mobile phone combination," in Proc. of the IEEE Int. Conf. of the Engineering in Medicine and Biology Society, Amsterdam, Netherlands, Oct. 31-Nov. 3, 1996, pp. 506-507.
11. L. Ran, S. Helal, and S. Moore, "Drishti: an integrated indoor/outdoor blind navigation system and service," in Proc. of the IEEE Conf. on Pervasive Computing and Communications, Orlando, FL, Mar. 14-17, 2004, pp. 23-30.
12. F. Cavallo, A. M. Sabatini, and V. Genovese, "A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, Canada, Aug. 2-6, 2005, pp. 1187-1191.
13. K. Sagawa, H. Inooka, and Y. Satoh, "Non-restricted measurement of walking distance," in Proc. of the IEEE Int. Conf. on Systems, Man, and Cybernetics, Nashville, TN, Oct. 8-11, 2000, pp. 1847-1852.
14. J. Borenstein, L. Ojeda, and S. Kwanmuang, "Heuristic reduction of gyro drift for personnel tracking systems," Journal of Navigation, vol. 62, no. 1, pp. 41-58, Jan. 2009.
15. R. Smith, M. Self, and P. Cheeseman, "Estimating uncertain spatial relationships in robotics," in Autonomous Robot Vehicles. New York, NY: Springer-Verlag, 1990, pp. 167-193.
16. M. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte, and M. Csorba, "A solution to the simultaneous localization and map building (SLAM) problem," IEEE Trans. on Robotics and Automation, vol. 17, no. 3, pp. 229-241, June 2001.
17. P. Kohlhepp, P. Pozzo, M. Walther, and R. Dillman, "Sequential 3D-SLAM for mobile action planning," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, Sept. 28-Oct. 2, 2004, pp. 722-729.
18. A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg, and S. Thrun, "6D SLAM with an application in autonomous mine mapping," in Proc. of the IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, Apr. 18-May 1 2004, pp. 1998-2003.
19. D. M. Cole and P. M. Newman, "Using laser range data for 3D SLAM in outdoor environments," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Orlando, FL, May 15-19, 2006, pp. 1556-1563.
20. D. G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, vol. 60, no. 2, pp. 91-110, Nov. 2004.
21. E. J. Lefferts, F. L. Markley, and M. D. Shuster, "Kalman filtering for spacecraft attitude estimation," Journal of Guidance, Control, and Dynamics, vol. 5, no. 5, pp. 417-429, Sept.-Oct. 1982.
22. N. Trawny and S. I. Roumeliotis, "Indirect Kalman filter for 3D pose estimation," MARS Lab, Dept. of Computer Science & Engineering, University of Minnesota, Minneapolis, MN, Tech. Rep., Mar. 2005.
23. V. Nguyen, S. Gächter, A. Martinelli, N. Tomatis, and R. Siegwart, "A Comparison of Line Extraction Algorithms using 2D Range Data for Indoor Mobile Robotics," Autonomous Robots, vol. 23, no. 2, pp. 97-111, Aug. 2007.
24. S. T. Pfister, S. I. Roumeliotis, and J. W. Burdick, "Weighted line fitting algorithms for mobile robot map building and efficient data representation," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, Sept. 14-19, 2003, pp. 1304-1311.
25. F. M. Mirzaei and S. I. Roumeliotis, "A Kalman filter-based algorithm for IMU-camera calibration: Observability analysis and performance evaluation," IEEE Trans. on Robotics, vol. 24, no. 5, pp. 1143-1156, Oct. 2008.
26. C. M. Bishop, Pattern Recognition and Machine Learning. Springer-Verlag, 2006.