Title :
An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter
Author :
Yanqi Lu ; Jian Huang ; Wenxia Xu ; Chunjing Tao ; Xitai Wang
Author_Institution :
Key Lab. of Minist. of Educ. for Image Process. & Intell. Control, Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user´s lower limb. This system can be used both for monitoring the user´s walking status and for realizing the relative localization. A belt of multiple sonar sensors worn by the user can detect the obstacle of unknown environment. Simultaneously, this sonar belt can also be used as the absolute localization device in a similar way as the mobile robot. An EKF is applied to realize the data fusion of different sensor systems. The abilities of obstacle avoidance and indoor localization of the proposed ETA are both verified through experiments.
Keywords :
Kalman filters; belts; collision avoidance; handicapped aids; indoor navigation; nonlinear filters; pose estimation; sensor fusion; sonar detection; EKF; ETA; data fusion; electronic travel aid; extended Kalman filter; indoor localization technology; localization device; mobile robots; multisensor fusion; obstacle avoidance; obstacle detection; real-time posture estimation; relative localization; sensor systems; sonar belt; sonar sensors; user lower limb; user walking status monitoring; wearable sensor system; Acceleration; Acoustics; Magnetic sensors; Mercury (metals); Sensor systems; Vectors; Electronic Travel Aids(ETA); extended Kalman filter(EKF); multi-sensor fusion; the wearable system;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7052681
