Localization System using Microsoft Kinect for Indoor Structures

Abstract

This paper proposes a localization system using the Microsoft Kinect sensor. It is difficult to accurately measure self-position and self-posture by a red-green-blue (RGB) image sensor, since the accuracy in the depth direction of an image sensor tends to be worse than that in other directions using only an RGB image sensor. The Kinect sensor has both an RGB image sensor and a depth sensor. This sensor can directly calculate the depth value; therefore, the accuracy in the depth direction is better. In the proposed system, natural feature points are detected from an image by a Harris interest operator, and the depth data of these feature points are obtained from the depth sensor. After that, these points are tracked by the template matching method. The camera's position and posture are calculated from the position of these tracked points. Finally, we provide examples of 3D scene reconstruction and estimation results.

Mobile client localization using data fusion of wireless LAN signals and three-dimensional camera image sequences

“…Note that the global position of the mobile client is obtained by procedures 1 and 3. To construct the database, the natural feature points in the camera image, and their 3-D positions with respect to the global coordinate frame, are stored in advance [16]. The wireless LAN localization system is needed to obtain the relation between the natural feature points and their 3-D positions for the database.…”

Simultaneous motion tracking and localisation of a person based on the integration of multiple IMUs and depth camera

“…Accurate localisation of a person in indoor environments has been one of the most important research issues owing to its value and the challenges of making it more accurate and more easily available. Localisation methods can be categorised as two parts: infra‐based and wearable sensor‐based localisations [1–8]. In open area, the global navigation satellite system‐based localisation methods have been used widely, and it is a representative method of the infra‐based localisations [1].…”

“…For indoor environments, one of the wireless communication systems such as Wi‐Fi [2], ultra‐wideband [3], chirp spread spectrum [4], ultrasonic wave [5] etc. or a depth camera [6] can be selectively used for the localisation infra. An important merit of the infra‐based localisation is the long‐term accuracy.…”

Indoor Localization for an Augmented Reality-Aided Operation and Maintenance System based on Sensor Data Integration

“…This study proposes a localization method for a mobile client for AR-aided maintenance and operation systems integrating wireless LAN signals [4] and threedimensional (3-D) camera image sequences [5,6]. Figure 1 shows the overview of the proposed method.…”