Title :
CHAMELEON: Visual-inertial indoor navigation
Author :
Rydell, Joakim ; Emilsson, Erika
Author_Institution :
Swedish Defence Res. Agency, Sweden
Abstract :
This paper presents a study of an indoor navigation system, Chameleon. The system is based on simultaneous localization and mapping (SLAM), using a stereo camera combined with an inertial measurement unit (IMU). Results from a number of navigation experiments are shown. Some experiments were performed in parallel with a foot-mounted system, Centipede, and results from this system are shown as a comparison. Additionally, the ability of the camera-based system to generate building maps is demonstrated.
Keywords :
image sensors; indoor communication; radionavigation; stereo image processing; Chameleon; building maps; inertial measurement unit; simultaneous localization and mapping; stereo camera; visual-inertial indoor navigation; Navigation; Reliability; Sensor systems;
Conference_Titel :
Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION
Conference_Location :
Myrtle Beach, SC
Print_ISBN :
978-1-4673-0385-9
DOI :
10.1109/PLANS.2012.6236925
