An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location
This paper proposes a method for determining a pedestrian’s indoor location based on an UWB (ultra-wideband) and vison fusion algorithm. Firstly, an UWB localization algorithm based on EKF (extended Kalman filter) is proposed, which can achieve indoor positioning accuracy of 0.3 m. Secondl...
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| Format: | Article |
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MDPI AG
2020-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/4/1139 |
| _version_ | 1798003851234639872 |
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| author | Fei Liu Jixian Zhang Jian Wang Houzeng Han Deng Yang |
| author_facet | Fei Liu Jixian Zhang Jian Wang Houzeng Han Deng Yang |
| author_sort | Fei Liu |
| collection | DOAJ |
| description | This paper proposes a method for determining a pedestrian’s indoor location based on an UWB (ultra-wideband) and vison fusion algorithm. Firstly, an UWB localization algorithm based on EKF (extended Kalman filter) is proposed, which can achieve indoor positioning accuracy of 0.3 m. Secondly, a method to solve scale ambiguity and repositioning of the monocular ORB-SLAM (oriented fast and rotated brief-simultaneous localization and mapping) algorithm based on EKF is proposed, which can calculate the ambiguity in real time and can quickly reposition when the vision track fails. Lastly, two experiments were carried out, one in a corridor with sparse texture and the other with the light brightness changing frequently. The results show that the proposed scheme can reliably achieve positioning accuracy on the order of 0.2 m; with the combination of algorithms, the scale ambiguity of monocular ORB-Slam can be solved, with the failed vision trace repositioned by UWB, and the positioning accuracy of UWB can be improved, making it suitable for pedestrian location in indoor environments with sparse texture and frequent light brightness changes. |
| first_indexed | 2024-04-11T12:14:12Z |
| format | Article |
| id | doaj.art-be6c753cccaa4513b6a0f00dbd20c741 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:14:12Z |
| publishDate | 2020-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-be6c753cccaa4513b6a0f00dbd20c7412022-12-22T04:24:27ZengMDPI AGSensors1424-82202020-02-01204113910.3390/s20041139s20041139An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor LocationFei Liu0Jixian Zhang1Jian Wang2Houzeng Han3Deng Yang4School of Environment Science and Spatial Informatics, China University of Mining and Technology (CUMT), Xuzhou 221116, ChinaNational Quality Inspection and Testing Center for Surveying and Mapping Products, Beijing 100830, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaThis paper proposes a method for determining a pedestrian’s indoor location based on an UWB (ultra-wideband) and vison fusion algorithm. Firstly, an UWB localization algorithm based on EKF (extended Kalman filter) is proposed, which can achieve indoor positioning accuracy of 0.3 m. Secondly, a method to solve scale ambiguity and repositioning of the monocular ORB-SLAM (oriented fast and rotated brief-simultaneous localization and mapping) algorithm based on EKF is proposed, which can calculate the ambiguity in real time and can quickly reposition when the vision track fails. Lastly, two experiments were carried out, one in a corridor with sparse texture and the other with the light brightness changing frequently. The results show that the proposed scheme can reliably achieve positioning accuracy on the order of 0.2 m; with the combination of algorithms, the scale ambiguity of monocular ORB-Slam can be solved, with the failed vision trace repositioned by UWB, and the positioning accuracy of UWB can be improved, making it suitable for pedestrian location in indoor environments with sparse texture and frequent light brightness changes.https://www.mdpi.com/1424-8220/20/4/1139monocular visionuwborb-slampedestrian indoor locationscale ambiguity |
| spellingShingle | Fei Liu Jixian Zhang Jian Wang Houzeng Han Deng Yang An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location Sensors monocular vision uwb orb-slam pedestrian indoor location scale ambiguity |
| title | An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location |
| title_full | An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location |
| title_fullStr | An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location |
| title_full_unstemmed | An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location |
| title_short | An UWB/Vision Fusion Scheme for Determining Pedestrians’ Indoor Location |
| title_sort | uwb vision fusion scheme for determining pedestrians indoor location |
| topic | monocular vision uwb orb-slam pedestrian indoor location scale ambiguity |
| url | https://www.mdpi.com/1424-8220/20/4/1139 |
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