Wide-ranging Registration Using LRF and PDR for MR Road Maintenance
نویسندگان
چکیده
We have been developing a mixed reality system to support road maintenance using overlaid visual aids. Such a system requires a positioning method that can provide sub-meter accuracy even if the appearance of the road surface changes significantly caused by many factors such as construction phase, time and weather. Therefore, we are developing a real-time, wide-range worker positioning method that can be applied to these situations by integrating laser range finder (LRF) and pedestrian deadreckoning (PDR) data. On actual road maintenance sites, multiple workers move around the workspace. Therefore, it is necessary to determine corresponding pairs of PDRbased and LRF-based trajectories. In this study, we propose a method to calculate a similarity between trajectories and a procedure to integrate corresponding pairs of trajectories to acquire the position and movement direction of a worker. Author
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