Wearable Localization by Particle Filter with the Assistance of Inertial and Visual Sensors

• Main Authors: Huang, Sz-Pin, 黃思頻
• Other Authors: Tseng, Yu-Chee
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/85136721553606934359

碩士 === 國立交通大學 === 資訊科學與工程研究所 === 102 === Indoor positioning has been intensively studied recently due to the needs of a lot of indoor mobile applications. While many works have used wireless signals or dead-reckoning in location tracking, wearable computing poses new opportunities as well as challenges to the localization problem. The paper studies the wearable localization problem by proposing a Particle filter-based scheme to fuse the input data from wearable inertial and visual sensors on human body. Specifically, the filter takes inertial signals, wireless signals, visual landmarks, and indoor floor plans as inputs for location tracking. Inertial signals imply human movement, wireless signals indicate a rough absolute region inside a building, while visual landmarks provide relative angles viewing from a particular position to certain exact markers inside a building. Further, OHMD (optical head-mounted display) provides intuitive, friendly interfaces to users. The proposed system has also been prototyped and tested in a U-shape building and the experiments show an average localization error of about one meter.