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

fYear

2013

fDate

2-4 Dec. 2013

Firstpage

395

Lastpage

400

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Automatic Control Conference (CACS), 2013 CACS International

Conference_Location

Nantou

Print_ISBN

978-1-4799-2384-7

Type

conf

DOI

10.1109/CACS.2013.6734167

Filename

6734167