Title :
Indoor navigation with smartphone-based visual SLAM and Bluetooth-connected wheel-robot
Author :
Wei-Wen Kao ; Bui Quang Huy
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan
Abstract :
A smartphone-based positioning system suitable for indoor robot application is developed in this research by integrating image and other sensors on a smartphone with wheel odometer feedback from a Bluetooth-connected robot vehicle. WiFi signal, inertial sensors, and CMOS sensor in the smartphone were considered to provide measurements for positioning calculations. The real-time performances of SIFT, SURF, and ORB image feature detection and tracking algorithms are compared in the smartphone and ORB was chosen for implementation. Experimental result of Visual SLAM positioning is presented together with state convergence analysis.
Keywords :
Bluetooth; CMOS image sensors; SLAM (robots); convergence; distance measurement; feature extraction; inertial navigation; mobile robots; object tracking; path planning; smart phones; transforms; wireless LAN; Bluetooth-connected robot vehicle; Bluetooth-connected wheel-robot; CMOS sensor; ORB image feature detection; SIFT image feature detection; SURF image feature detection; WiFi signal; image tracking algorithms; indoor navigation; indoor robot; inertial sensors; oriented binary robust independent elementary; real-time performances; scale-invariant feature transform; simultaneous localization and mapping; smartphone-based positioning system; smartphone-based visual SLAM; speeded up robust features; state convergence analysis; visual SLAM positioning; wheel odometer feedback; Cameras; Feature extraction; Robot kinematics; Robot vision systems; Simultaneous localization and mapping; Visual SLAM; indoor positioning; smartphone positioning;
Conference_Titel :
Automatic Control Conference (CACS), 2013 CACS International
Conference_Location :
Nantou
Print_ISBN :
978-1-4799-2384-7
DOI :
10.1109/CACS.2013.6734167
