Vision-Based Attitude Estimation for Indoor Navigation using Vanishing Points and Lines

Christoph Kessler, Christian Ascher, Natalie Frietsch, Michael Weinmann und Gert F. Trommer
In proceedings of Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION, pages 310-318, Mai 2010
 

Abstract

A novel method for vision-based indoor attitude aiding is described in this paper. A strapdown Inertial Navigation System (INS) with low-cost Micro-Electrical Micro-Mechanical (MEMS) sensors is augmented by a mono-camera. Line features are detected and analyzed using the concept of Vanishing Points (VPs) and Vanishing Lines (VLs). By exploiting geometrical constraints inside buildings, long-term stable attitude information is extracted. The performance of this aiding method is analyzed in turntable experiments and demonstrated in field test within an Integrated Pedestrian Navigation System (IPNS). It is shown that the proposed method effectively eliminates attitude drift in indoor environments and is real-time capable.

Bilder

Bibtex

@INPROCEEDINGS{weinmann-2010-attitude-estimation,
     author = {Kessler, Christoph and Ascher, Christian and Frietsch, Natalie and Weinmann, Michael and Trommer,
               Gert F.},
      pages = {310--318},
      title = {Vision-Based Attitude Estimation for Indoor Navigation using Vanishing Points and Lines},
  booktitle = {Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION},
       year = {2010},
      month = may,
   abstract = {A novel method for vision-based indoor attitude aiding is described in this paper. A strapdown
               Inertial Navigation System (INS) with low-cost Micro-Electrical Micro-Mechanical (MEMS) sensors is
               augmented by a mono-camera. Line features are detected and analyzed using the concept of Vanishing
               Points (VPs) and Vanishing Lines (VLs). By exploiting geometrical constraints inside buildings,
               long-term stable attitude information is extracted. The performance of this aiding method is
               analyzed in turntable experiments and demonstrated in field test within an Integrated Pedestrian
               Navigation System (IPNS). It is shown that the proposed method effectively eliminates attitude drift
               in indoor environments and is real-time capable.}
}