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Indoor Localization Algorithms for a Human-Operated Backpack System
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BibTeX
@MISC{Chen_indoorlocalization,
author = {George Chen and John Kua and Stephen Shum and Nikhil Naikal and Matthew Carlberg and Avideh Zakhor},
title = {Indoor Localization Algorithms for a Human-Operated Backpack System},
year = {}
}
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Abstract
Automated 3D modeling of building interiors is useful in applications such as virtual reality and entertainment. Using a human-operated backpack system equipped with 2D laser scanners and inertial measurement units, we develop four scan-matching-based algorithms to localize the backpack and compare their performance and tradeoffs. We present results for two datasets of a 30-meter-long indoor hallway and compare one of the best performing localization algorithms with a visual-odometry-based method. We find that our scan-matching-based approach results in comparable or higher accuracy. 1.
Keyphrases
human-operated backpack system indoor localization algorithm performing localization algorithm virtual reality inertial measurement unit scan-matching-based algorithm scan-matching-based approach result laser scanner building interior 30-meter-long indoor hallway visual-odometry-based method present result
