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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Oskiper, T. Zhiwei Zhu Samarasekera, S. Kumar, R. |
| Copyright Year | 2007 |
| Description | Author affiliation: Sarnoff Corp., Princeton (Oskiper, T.; Zhiwei Zhu; Samarasekera, S.; Kumar, R.) |
| Abstract | Over the past decade, tremendous amount of research activity has focused around the problem of localization in GPS denied environments. Challenges with localization are highlighted in human wearable systems where the operator can freely move through both indoors and outdoors. In this paper, we present a robust method that addresses these challenges using a human wearable system with two pairs of backward and forward looking stereo cameras together with an inertial measurement unit (IMU). This algorithm can run in real-time with 15 Hz update rate on a dual-core 2 GHz laptop PC and it is designed to be a highly accurate local (relative) pose estimation mechanism acting as the front-end to a simultaneous localization and mapping (SLAM) type method capable of global corrections through landmark matching. Extensive tests of our prototype system so far, reveal that without any global landmark matching, we achieve between 0.5% and 1% accuracy in localizing a person over a 500 meter travel indoors and outdoors. To our knowledge, such performance results with a real time system have not been reported before. |
| Starting Page | 1 |
| Ending Page | 8 |
| File Size | 701910 |
| Page Count | 8 |
| File Format | |
| ISBN | 1424411793 |
| ISSN | 10636919 |
| DOI | 10.1109/CVPR.2007.383087 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-06-17 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Cameras Measurement units Humans Simultaneous localization and mapping Global Positioning System Robustness Portable computers Algorithm design and analysis System testing Prototypes |
| Content Type | Text |
| Resource Type | Article |
| Subject | Computer Vision and Pattern Recognition Software |
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