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Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments

Grießbach, Denis and Baumbach, Dirk and Börner, Anko and Zuev, Sergey (2013) Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments. ISPRS Acquisition and Modelling of Indoor and Enclosed Environments 2013, 11.-13. Dez. 2013, Kapstadt, Südafrika.

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Official URL: http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-4-W4/13/2013/isprsarchives-XL-4-W4-13-2013.pdf

Abstract

Accurate knowledge of position and orientation is a prerequisite for many applications regarding unmanned navigation, mapping, or environmental modelling. GPS-aided inertial navigation is the preferred solution for outdoor applications. Nevertheless a similar solution for navigation tasks in difficult environments with erroneous or no GPS-data is needed. Therefore a stereo vision aided inertial navigation system is presented which is capable of providing real-time local navigation for indoor applications. A method is described to reconstruct the ego motion of a stereo camera system aided by inertial data. This, in turn, is used to constrain the inertial sensor drift. The optical information is derived from natural landmarks, extracted and tracked over consequent stereo image pairs. Using inertial data for feature tracking effectively reduces computational costs and at the same time increases the reliability due to constrained search areas. Mismatched features, e.g. at repetitive structures typical for indoor environments are avoided. An Integrated Positioning System (IPS) was deployed and tested on an indoor navigation task. IPS was evaluated for accuracy, ro- bustness, and repeatability in a common office environment. In combination with a dense disparity map, derived from the navigation cameras, a high density point cloud is generated to show the capability of the navigation algorithm.

Document Type:Conference or Workshop Item (Speech)
Title:Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments
Authors:
AuthorsInstitution or Email of Authors
Grießbach, Denisdenis.griessbach@dlr.de
Baumbach, Dirkdirk.baumbach@dlr.de
Börner, Ankoanko.boerner@dlr.de
Zuev, Sergeysergey.zuev@dlr.de
Date:December 2013
Refereed publication:Yes
Status:Published
Keywords:Inertial Navigation, Indoor Navigation, Stereo Vision, Multisensor Data Fusion
Event Title:ISPRS Acquisition and Modelling of Indoor and Enclosed Environments 2013
Event Location:Kapstadt, Südafrika
Event Type:international Conference
Event Dates:11.-13. Dez. 2013
Organizer:ISPRS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Earth Observation
DLR - Research area:Raumfahrt
DLR - Program:R EO - Erdbeobachtung
DLR - Research theme (Project):R - Vorhaben Anwendungn Optik: 3-D, Datenfusion, optische Navigation
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Information Processing for Optical Systems
Deposited By: Denis Grießbach
Deposited On:10 Feb 2014 08:04
Last Modified:08 May 2014 23:20

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