Indoor navigation assistance with a Smartphone camera based on vanishing points

Indoor navigation assistance is a highly challenging task that is increasingly needed in various types of applications such as visually impaired guidance, emergency intervention, tourism, etc. Many alternative techniques to GPS have been explored to deal with this challenge like pre-installed sensor networks (Wifi, Ultra Wide Band, Bluetooth, Radio Frequency IDentification etc), inertial sensors or camera. This paper presents an indoor navigation system on Smartphone that was designed taking into consideration low cost, portability and the lightweight of the used algorithm in terms of computation power and storage space. The proposed solution relies on embedded vision. Robust and fast camera orientation (3 dof) is estimated by tracking three orthogonal vanishing points in a video stream acquired with the camera of a free-handled Smartphone. The developed algorithm enables indoor pedestrian localization in two steps: an off-line learning step defines a reference path by selecting key frames along the way using saliency extraction method and computing the camera orientation in these frames. Then, in localization step, an approximate but realistic position of the walker is estimated in real time by comparing the orientation of the camera in the current image and that of reference to assist the pedestrian with navigation guidance. Unlike SLAM, this approach does not require to build 3D mapping of the environment. Online walking direction is given by Smartphone camera which advantageously replaces the compass sensor since it performs very poorly indoors due to electromagnetic noise. Experiments, executed online on Smartphone, that show the feasibility and evaluate the accuracy of the proposed positioning approach for different indoor paths.