公开(公告)号：US09846042B2

公开(公告)日：2017-12-19

申请号：US14940704

申请日：2015-11-13

Applicant: Worcester Polytechnic Institute

Inventor： Benzun Wisely Babu ,  David Cyganski ,  R. James Duckworth

IPC: G01C21/20 ,  G01C21/18 ,  G05D1/02 ,  G06T7/80 ,  G06T7/246

CPC classification number: G01C21/206 ,  G01C21/18 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G06T7/246 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30244

Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.

公开(公告)号：US20160209217A1

公开(公告)日：2016-07-21

申请号：US14940704

申请日：2015-11-13

Applicant: Worcester Polytechnic Institute

Inventor： Benzun Wisely Babu ,  David Cyganski ,  R. James Duckworth

IPC: G01C21/20 ,  G06T7/20 ,  G06T7/00 ,  G01C21/18

CPC classification number: G01C21/206 ,  G01C21/18 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G06T7/246 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30244

Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.

Abstract translation: 室内定位系统使用由陀螺传感器信息辅助的视觉同步定位和映射（VSLAM）。 室内环境造成几个挑战，这可能导致视觉系统由于跟踪错误而失败。 调查显示，当穿过平原的墙壁，窗户和楼梯时，视觉系统中的显着特征损失。 然而，添加陀螺仪有助于通过提供额外的旋转信息来处理这样的困难条件。 已经开发了用于室内映射的由惯性测量单元（IMU）和立体摄像机组成的便携式系统。 使用陀螺仪辅助可扩展视觉同步定位和映射算法对系统采集的图像和陀螺仪速率进行存储和后处理。