{"title":"室内导航，基于智能手机的视觉SLAM和蓝牙连接的轮式机器人","authors":"W. Kao, Bui Quang Huy","doi":"10.1109/CACS.2013.6734167","DOIUrl":null,"url":null,"abstract":"A smartphone-based positioning system suitable for indoor robot application is developed in this research by integrating image and other sensors on a smartphone with wheel odometer feedback from a Bluetooth-connected robot vehicle. WiFi signal, inertial sensors, and CMOS sensor in the smartphone were considered to provide measurements for positioning calculations. The real-time performances of SIFT, SURF, and ORB image feature detection and tracking algorithms are compared in the smartphone and ORB was chosen for implementation. Experimental result of Visual SLAM positioning is presented together with state convergence analysis.","PeriodicalId":186492,"journal":{"name":"2013 CACS International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"23","resultStr":"{\"title\":\"Indoor navigation with smartphone-based visual SLAM and Bluetooth-connected wheel-robot\",\"authors\":\"W. Kao, Bui Quang Huy\",\"doi\":\"10.1109/CACS.2013.6734167\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A smartphone-based positioning system suitable for indoor robot application is developed in this research by integrating image and other sensors on a smartphone with wheel odometer feedback from a Bluetooth-connected robot vehicle. WiFi signal, inertial sensors, and CMOS sensor in the smartphone were considered to provide measurements for positioning calculations. The real-time performances of SIFT, SURF, and ORB image feature detection and tracking algorithms are compared in the smartphone and ORB was chosen for implementation. Experimental result of Visual SLAM positioning is presented together with state convergence analysis.\",\"PeriodicalId\":186492,\"journal\":{\"name\":\"2013 CACS International Automatic Control Conference (CACS)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"23\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 CACS International Automatic Control Conference (CACS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CACS.2013.6734167\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 CACS International Automatic Control Conference (CACS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CACS.2013.6734167","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Indoor navigation with smartphone-based visual SLAM and Bluetooth-connected wheel-robot
A smartphone-based positioning system suitable for indoor robot application is developed in this research by integrating image and other sensors on a smartphone with wheel odometer feedback from a Bluetooth-connected robot vehicle. WiFi signal, inertial sensors, and CMOS sensor in the smartphone were considered to provide measurements for positioning calculations. The real-time performances of SIFT, SURF, and ORB image feature detection and tracking algorithms are compared in the smartphone and ORB was chosen for implementation. Experimental result of Visual SLAM positioning is presented together with state convergence analysis.
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