A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning
Indoor pedestrian localization measurement is a hot topic and is widely used in indoor navigation and unmanned devices. PDR (Pedestrian Dead Reckoning) is a low-cost and independent indoor localization method, estimating position of pedestrians independently and continuously. PDR fuses the accelerom...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/11/3803 |
| _version_ | 1797566645060763648 |
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| author | Jiuchao Qian Yuhao Cheng Rendong Ying Peilin Liu |
| author_facet | Jiuchao Qian Yuhao Cheng Rendong Ying Peilin Liu |
| author_sort | Jiuchao Qian |
| collection | DOAJ |
| description | Indoor pedestrian localization measurement is a hot topic and is widely used in indoor navigation and unmanned devices. PDR (Pedestrian Dead Reckoning) is a low-cost and independent indoor localization method, estimating position of pedestrians independently and continuously. PDR fuses the accelerometer, gyroscope and magnetometer to calculate relative distance from starting point, which is mainly composed of three modules: step detection, stride length estimation and heading calculation. However, PDR is affected by cumulative error and can only work in two-dimensional planes, which makes it limited in practical applications. In this paper, a novel localization method V-PDR is presented, which combines VPR (Visual Place Recognition) and PDR in a loosely coupled way. When there is error between the localization result of PDR and VPR, the algorithm will correct the localization of PDR, which significantly reduces the cumulative error. In addition, VPR recognizes scenes on different floors to correct floor localization due to vertical movement, which extends application scene of PDR from two-dimensional planes to three-dimensional spaces. Extensive experiments were conducted in our laboratory building to verify the performance of the proposed method. The results demonstrate that the proposed method outperforms general PDR method in accuracy and can work in three-dimensional space. |
| first_indexed | 2024-03-10T19:29:22Z |
| format | Article |
| id | doaj.art-1d02c4c5618748e5acb98fb27dabf0e2 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T19:29:22Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-1d02c4c5618748e5acb98fb27dabf0e22023-11-20T02:14:15ZengMDPI AGApplied Sciences2076-34172020-05-011011380310.3390/app10113803A Novel Indoor Localization Method Based on Image Retrieval and Dead ReckoningJiuchao Qian0Yuhao Cheng1Rendong Ying2Peilin Liu3School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaIndoor pedestrian localization measurement is a hot topic and is widely used in indoor navigation and unmanned devices. PDR (Pedestrian Dead Reckoning) is a low-cost and independent indoor localization method, estimating position of pedestrians independently and continuously. PDR fuses the accelerometer, gyroscope and magnetometer to calculate relative distance from starting point, which is mainly composed of three modules: step detection, stride length estimation and heading calculation. However, PDR is affected by cumulative error and can only work in two-dimensional planes, which makes it limited in practical applications. In this paper, a novel localization method V-PDR is presented, which combines VPR (Visual Place Recognition) and PDR in a loosely coupled way. When there is error between the localization result of PDR and VPR, the algorithm will correct the localization of PDR, which significantly reduces the cumulative error. In addition, VPR recognizes scenes on different floors to correct floor localization due to vertical movement, which extends application scene of PDR from two-dimensional planes to three-dimensional spaces. Extensive experiments were conducted in our laboratory building to verify the performance of the proposed method. The results demonstrate that the proposed method outperforms general PDR method in accuracy and can work in three-dimensional space.https://www.mdpi.com/2076-3417/10/11/3803indoor localizationPDRVPRfusion navigation |
| spellingShingle | Jiuchao Qian Yuhao Cheng Rendong Ying Peilin Liu A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning Applied Sciences indoor localization PDR VPR fusion navigation |
| title | A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning |
| title_full | A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning |
| title_fullStr | A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning |
| title_full_unstemmed | A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning |
| title_short | A Novel Indoor Localization Method Based on Image Retrieval and Dead Reckoning |
| title_sort | novel indoor localization method based on image retrieval and dead reckoning |
| topic | indoor localization PDR VPR fusion navigation |
| url | https://www.mdpi.com/2076-3417/10/11/3803 |
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