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Indoor way-finding method using IMU and magnetic tensor sensor measurements for visually impaired users
International Journal of Intelligent Robotics and Applications Pub Date : 2021-03-26 , DOI: 10.1007/s41315-021-00163-6
Min Li , Jayanth Ammanabrolu

This paper introduces a new indoor way-finding method for the visually impaired person (VIP) by utilizing the naturally-generated inertial and geomagnetic information. Reliable and accurate indoor orientation and localization are provided by newly designed sensor fusion algorithms, which take advantage of inertial and geomagnetic information and overcome the inherent problems of the naturally-generated signals, such as low signal-to-noise ratio (SNR) and high environmental sensitivity. Geomagnetic information compensates the sensor drift and accumulative error of the inertial sensors whereas the inertial sensors help to correct the orientation-related errors and drift of the magnetic fields. A parameter derived from the magnetic tensor is introduced for obstacle avoidance and object/destination approach, especially when the relatively large localization uncertainty exists. With a prototype developed based on the system design, several experiments under different indoor scenarios demonstrate that the proposed indoor-way finding method can guide the VIPs and avoid obstacles indoor efficiently and accurately.



中文翻译:

使用IMU和磁张量传感器测量为视障用户提供室内寻路方法

本文介绍了一种利用自然产生的惯性和地磁信息为视障者提供室内寻路的新方法。新设计的传感器融合算法可提供可靠,准确的室内定位和定位,该算法利用惯性和地磁信息,克服了自然产生的信号固有的问题,例如信噪比(SNR)高,信噪比高。环境敏感性。地磁信息可以补偿惯性传感器的传感器漂移和累积误差,而惯性传感器则有助于校正与方向相关的误差和磁场漂移。引入了从磁张量得出的参数,以避开障碍物和目标/目的地方法,特别是当存在相对较大的本地化不确定性时。通过基于系统设计开发的原型,在不同室内场景下进行的多次实验表明,该室内寻路方法可以引导VIP并有效,准确地避开室内障碍物。

更新日期:2021-03-26
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