Inertial-vision sensor fusion for pedestrian localization

Abstract

The localization of an ambulatory individual, a.k.a. a pedestrian, is a quickly-developing domain with the potential to permeate into a variety of applications, as knowledge of an individual's location within an environment becomes ever-more useful. In order to automate the localization task, positioning modules are prime candidates for inclusion in a system. Such modules are expected to reduce both the effort and time incurred during the localization process while improving the accuracy and organization of the exchanged data. Building on and combining recent developments in the fields of step detection using inertial measurement units and structure from motion using a camera rig, the work presented in this paper is an implementation of a pedestrian localization system targeted specifically at infrastructure-less indoor localization. The inertial measurement unit and camera rigs are respectively attached to the mobile user's foot and waist, and the collected data is processed by the localization module to obtain a current position. The focus of this paper is the implementation and preliminary testing of this localization module's components.

Data acquisition technologies for construction progress tracking

“…Some potential applications of UWB technology on construction sites include material tracking and activitybased progress tracking as well as various safety-related applications [58]. UWB has emerged as an effective real-time location sensing and resource-tracking technology in harsh construction environments [59]. For example, Cheng et al [60] applied the UWB technology in construction projects where it was successfully used for a 3D material location tracking in real-time.…”

Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet

“…Using these strategies might be a successful solution to overcome the drift observed in methods using IMU and to obtain positioning errors of approximately 1.5 m [24]. In [25], a foot-mounted IMU is fused with a waist-mounted visual odometry system to update the state of the system composed of its position, velocity and acceleration. This last system was used recently [26] to design a fusion strategy requiring measurements only once per human step instead of every time step.…”

Infrastructureless approach for ubiquitous user location tracking in construction environments

“…Construction takes place in a dynamic environment where equipment and materials are being moved, attached together, or taken apart, and the terrain itself can change shape. Such an environment does not present ideal conditions for the installation of tracking equipment which relies on extensive and elaborate installation and calibration [2,17,42,61]. There is thus a clear and critical need for new integrated systems that can accurately, precisely and robustly track the position of construction personnel in an arbitrary outdoor and/or indoor environment without relying on any pre-installed network of sensors.…”