DocumentCode
2580623
Title
CHAMELEON: Visual-inertial indoor navigation
Author
Rydell, Joakim ; Emilsson, Erika
Author_Institution
Swedish Defence Res. Agency, Sweden
fYear
2012
fDate
23-26 April 2012
Firstpage
541
Lastpage
546
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION
Conference_Location
Myrtle Beach, SC
ISSN
2153-358X
Print_ISBN
978-1-4673-0385-9
Type
conf
DOI
10.1109/PLANS.2012.6236925
Filename
6236925
Link To Document