A Study of Vision and IMU-Based Pedestrian Positioning System on the Smart Phone

• Main Authors: Hsiao, Chao-Chieh, 蕭兆傑
• Other Authors: Lin, Sheng-Fuu
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/59769438218032392941

碩士 === 國立交通大學 === 電控工程研究所 === 101 === GPS(global position system)and Wi-Fi have been applied in navigation in recent days frequently. However, they are limited in some environment where signal is not available, such as cave. For Wi-Fi , it need some AP to help localization which can not be equipped everywhere. This paper used IMU(inertial measurement unit) and vision function on the smart phone to solve the pedestrian navigation problem. This system did the experiment around the lake at school which is a wide but not flat area. Contrast to other indoor navigation system, this one can decrease the error caused by the long path and sloping fields distance calculation. There are three contributions of this thesis, first, through the KD tree method on the 3D reconstruction model, it can decrease the delay of positioning; Second, various viewpoints of vision positioning can cause match error while IMU may have accumulated error after long distance. In the thesis, it propose a method to compensate vision and IMU by each other. Third, the thesis finished a prototype system to achieve these goals and succeeded in positioning on campus