Fusion of visual odometry and inertial navigation system on a smartphone

Computers in Industry

Volumn 74, Issue , 2015, Pages 119-134

  Tomažič, Simon ^a   Škrjanc, Igor ^a  

^a UNIVERSITY OF LJUBLJANA   (Slovenia)

Author keywords

Compass; Fusion; Kalman filter; Pedestrian; Pedometer; Robot; Smartphone; Visual odometry

Indexed keywords

AIR NAVIGATION; ALGORITHMS; CAMERAS; COMPASSES (MAGNETIC); FUSION REACTIONS; INERTIAL NAVIGATION SYSTEMS; KALMAN FILTERS; MOBILE ROBOTS; NAVIGATION; NAVIGATION SYSTEMS; SIGNAL ENCODING; SMARTPHONES; VISION;

PEDESTRIAN; PEDOMETER; PERSONAL NAVIGATION SYSTEM; REFERENCE TRAJECTORIES; RIGID TRANSFORMATIONS; SMART-PHONE APPLICATIONS; VISUAL ODOMETRY; WORLD COORDINATE SYSTEMS;

ROBOTS;

EID: 84954532837     PISSN: 01663615     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.compind.2015.05.003     Document Type: Article

References (36)

1. V. Honkavirta, T. Perala, S. Ali-Loytty, and R. Pich'e A comparative survey of wlan location fingerprinting methods Positioning, Navigation and Communication, 2009. WPNC 2009. 6th Workshop on. IEEE 2009 2009 243 251
2. J. Ramos, A. Costa, P. Novais, and J. Neves Interactive guiding and localization platform Int. J. Artif. Intell. 12 1 2014 63 78
3. J. Weichselbaum, C. Zinner, O. Gebauer, Pree, and W Accurate 3D-vision-based obstacle detection for an autonomous train Comput. Ind. 64 9 2013 1209 1220
4. H. Durrant-Whyte, and T. Bailey Simultaneous localization and mapping: part I IEEE Robot. Autom. Mag. 13 2 2006 99 110
5. S. Sirtkaya, B. Seymen, and A.A. Alatan Loosely coupled Kalman filtering for fusion of Visual Odometry and inertial navigation 16th International Conference on, Information Fusion (FUSION) 1 2013 219 226
6. B. Silva, A. Burlamaqui, and L. Goncalves On monocular visual odometry for indoor ground vehicles Robotics Symposium and Latin American Robotics Symposium (SBR-LARS) Brazilian 2012 pp. 220-225
7. J. Straub, S. Hilsenbeck, G. Schroth, Huitl, R, and et al. Fast relocalization for visual odometry using binary features Proceeding of: IEEE International Conference on Image Processing (ICIP) 2013 2548 2552
8. G. Navarro, and M. Manic FuSnap: fuzzy control of logical volume snapshot replication for disk arrays IEEE Trans. Ind. Electron. 58 9 2011 4436 4444
9. D. Nister, O. Naroditsky, and J. Bergen Visual odometry Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on 2004 652 659
10. J. Campbell, R. Sukthankar, I.R. Nourbakhsh, and A. Pahwa A robust visual odometry and precipice detection system using consumer-grade monocular vision IEEE International Conference on Robotics and Automation (ICRA 2005) 2005
11. M. Agrawal, and K. Konolige Rough terrain visual odometry Proceedings of the International Conference on Advanced Robotics (ICAR 2007) 2007
12. BoofCV, Calibration. < http://boofcv.org/index.php?title=Tutorial-Camera-Calibration >, 2014 (1.6.2014).
13. Robot Operating System - ROS. < http://www.ros.org/ >, 2014 (1.12.2014).
14. H. Zhong, J.P. Wachs, and S.Y. Nof Telerobot-enabled HUB-CI model for collaborative lifecycle management of design and prototyping Comput. Ind. 65 4 2014 550 562
15. R. Precup, S. Preitl, M. Radac, E.M. Petriu, and et al. Experiment-based teaching in advanced control engineering IEEE Trans. Edu. 54 3 2011 345 355
16. J. Ramos, P. Novais, K. Satoh, T. Oliveira, and et al. Speculative orientation and tracking system Int. J. Artif. Intell. 13 1 2015 94 119
17. A. Sanchis, V. Julián, J.M. Corchado, Billhardt, H, and et al. Improving human-agent immersion using natural interfaces and CBR Int. J. Artif. Intell. 13 1 2015 81 93
18. M. Sonka, V. Hlavac, and R. Boyle Image Processing, Analysis, and Machine Vision 4th ed. 2014 Cengage Learning Stamford, USA 598 601
19. Z. Zhang A flexible new technique for camera calibration IEEE Trans. Pattern Anal. Mach. Intell. 22 11 2000 1330 1334
20. B.D. Lucas, T. Kanade, An Iterative Image Registration Technique with an Application to Stereo Vision. In: Proceedings of the 7th International Joint Conference on Artificial Intelligence - Volume 2, (1981) pp. 674-679. Morgan Kaufmann Publishers Inc. Canada.
21. C. Tomasi, T. Kanade, Detection and Tracking of Point Features. Int. J. Comput. Vision. Technical Report, Carnegie Mellon University (1991).
22. J. Shi, and C. Tomasi Good features to track Computer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on 1994 593 600
23. J.-Y. Bouguet, Pyramidal Implementation of the Lucas Kanade Feature Tracker: Description of the algorithm. Technical Report, Intel Corporation Microprocessor Research Labs (2001).
24. J.K. Suhr, Kanade-Lucas-Tomasi (KLT) Feature Tracker. Computer Vision Laboratory. Seoul, Korea (2009).
25. M.A. Fischler, and R.C. Bolles Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography Commun. ACM 24 6 1981 381 395
26. D.A. Forsyth, and J. Ponce Computer Vision: A Modern Approach 2003 Prentice Hall 365 375
27. Y. Ma, S. Soatto, J. Kosecka, and S.S. Sastry An Invitation to 3-D Vision: From Images to Geometric Models 2004 SpringerVerlag 19 37
28. D.W. Eggert, A. Lorusso, and R.B. Fisher Estimating 3-D rigid body transformations: a comparison of four major algorithms Mach. Vis. Appl. 1997 272 290
29. R. Szeliski Computer Vision Algorithms and Applications 2011 Springer London 320 321
30. K.S. Arun, T.S. Huang, and S.D. Blostein Least-squares fitting of two 3-D point sets IEEE Trans. Pattern Anal. Mach. Intell. 9 5 1987 698 700
31. H. Leppakoski, J. Collin, and J. Takala Pedestrian navigation based on inertial sensors, indoor map, and WLAN signals IEEE International Conference on, Acoustics, Speech and Signal Processing (ICASSP) 2012 1569 1572
32. Android Coordinate System. < http://developer.android.com/reference/android/hardware/SensorEvent.html#values >, 2014 (20.11.2014).
33. K. Shoemake Nimating rotation with quaternion curves Proceedings of the 12th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH '85 ACM, New York, NY, USA 1985 245 254
34. T. Zengshan, Z. Yuan, Z. Mu, L. Yu, Pedestrian dead reckoning for MARG navigation using a smartphone. EURASIP J. Adv. Sig. Pr., 65(1) (2014). Springer.
35. M. Hardegger, G. Tröster, and D. Roggen Improved actionSLAM for long-term indoor tracking with wearable motion sensors Proceedings of the 2013 International Symposium on Wearable Computers, ISWC '13 ACM, New York, NY, USA 2013 1 8
36. T. Gallagher, E. Wise, L. Binghao, and A.G. Dempster et al Indoor positioning system based on sensor fusion for the blind and visually impaired International Conference on, Indoor Positioning and Indoor Navigation (IPIN) 2012 2012 1 9