Smartphone-Based Inertial Odometry for Blind Walkers

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Consistency of EKF-Based Visual-Inertial Odometry

In this report, we perform a rigorous analysis of EKF-based visual-inertial odometry (VIO) and present a method for improving its performance. Specifically, we examine the properties of EKF-based VIO, and show that the standard way of computing Jacobians in the filter inevitably causes inconsistency and loss of accuracy. This result is derived based on an observability analysis of the EKF’s lin...

متن کامل

Inertial Odometry on Handheld Smartphones

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. We present a probabilistic approach for orientation and use-case free inertial odometry, which is based on double-integrating rotated accelerations. Our approach uses a probabilistic approach in fusing the noisy sensor data and learning ...

متن کامل

IEKF - based Visual - Inertial Odometry using Direct Photometric Feedback

This paper presents a visual-inertial odometry framework which tightly fuses inertial measurements with visual data from one or more cameras, by means of an iterated extended Kalman filter (IEKF). By employing image patches as landmark descriptors, a photometric error is derived, which is directly integrated as an innovation term in the filter update step. Consequently, the data association is ...

متن کامل

High-precision, consistent EKF-based visual-inertial odometry

In this paper, we focus on the problem of motion tracking in unknown environments using visual and inertial sensors. We term this estimation task visual-inertial odometry (VIO), in analogy to the well-known visual-odometry problem. We present a detailed study of EKF-based VIO algorithms, by comparing both their theoretical properties and empirical performance. We show that an EKF formulation wh...

متن کامل

Keyframe-based visual-inertial odometry using nonlinear optimization

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that non-linear opt...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Sensors

سال: 2021

ISSN: 1424-8220

DOI: 10.3390/s21124033