INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY
Indoor positioning is a fundamental requirement of many indoor location-based services and applications. In this paper, we explore the potential of low-cost and widely available visual and inertial sensors for indoor positioning. We describe the Visual-Inertial Odometry (VIO) approach and propose a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2017-09-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W4/371/2017/isprs-annals-IV-2-W4-371-2017.pdf |
| _version_ | 1811228408443568128 |
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| author | M. Ramezani D. Acharya F. Gu K. Khoshelham |
| author_facet | M. Ramezani D. Acharya F. Gu K. Khoshelham |
| author_sort | M. Ramezani |
| collection | DOAJ |
| description | Indoor positioning is a fundamental requirement of many indoor location-based services and applications. In this paper, we explore the potential of low-cost and widely available visual and inertial sensors for indoor positioning. We describe the Visual-Inertial Odometry (VIO) approach and propose a measurement model for omnidirectional visual-inertial odometry (OVIO). The results of experiments in two simulated indoor environments show that the OVIO approach outperforms VIO and achieves a positioning accuracy of 1.1 % of the trajectory length. |
| first_indexed | 2024-04-12T09:57:22Z |
| format | Article |
| id | doaj.art-532d0c89b83f4c39b353e50e0f25e344 |
| institution | Directory Open Access Journal |
| issn | 2194-9042 2194-9050 |
| language | English |
| last_indexed | 2024-04-12T09:57:22Z |
| publishDate | 2017-09-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-532d0c89b83f4c39b353e50e0f25e3442022-12-22T03:37:38ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502017-09-01IV-2-W437137610.5194/isprs-annals-IV-2-W4-371-2017INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRYM. Ramezani0D. Acharya1F. Gu2K. Khoshelham3Department of Infrastructure Engineering, The University of Melbourne, Parkville 3010 AustraliaDepartment of Infrastructure Engineering, The University of Melbourne, Parkville 3010 AustraliaDepartment of Infrastructure Engineering, The University of Melbourne, Parkville 3010 AustraliaDepartment of Infrastructure Engineering, The University of Melbourne, Parkville 3010 AustraliaIndoor positioning is a fundamental requirement of many indoor location-based services and applications. In this paper, we explore the potential of low-cost and widely available visual and inertial sensors for indoor positioning. We describe the Visual-Inertial Odometry (VIO) approach and propose a measurement model for omnidirectional visual-inertial odometry (OVIO). The results of experiments in two simulated indoor environments show that the OVIO approach outperforms VIO and achieves a positioning accuracy of 1.1 % of the trajectory length.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W4/371/2017/isprs-annals-IV-2-W4-371-2017.pdf |
| spellingShingle | M. Ramezani D. Acharya F. Gu K. Khoshelham INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY |
| title_full | INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY |
| title_fullStr | INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY |
| title_full_unstemmed | INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY |
| title_short | INDOOR POSITIONING BY VISUAL-INERTIAL ODOMETRY |
| title_sort | indoor positioning by visual inertial odometry |
| url | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W4/371/2017/isprs-annals-IV-2-W4-371-2017.pdf |
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