1. Construction of features database using different platform navigation solutions for aiding PDR algorithm
- Author
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Mohamed Ramadan, Mohamed El Tokhey, Ayman Ragab, Tamer Fath-Allah, and Ahmed Ragheb
- Subjects
Indoor navigation ,Visual odometry ,Gyroscope ,Magnetometer ,OpenCV ,Engineering (General). Civil engineering (General) ,TA1-2040 - Abstract
Nowadays, navigation can be accomplished based on several technologies. Some of these technologies rely solely on camera vision-based algorithms, whereas others rely solely on motion sensors’ data. Furthermore, some solutions combine vision-based algorithms with data from motion sensors.In this study, three platform navigation algorithms (stereo visual odometry technique, combining the distance calculated from the visual optical flow with estimated heading from gyroscope sensor measurements, and combining the distance calculated from the visual optical flow with estimated heading from magnetometer sensor measurements) were compared to select the most accurate among them to be employed for features database construction. This features database, which contains various well-described features with known three-dimensional world coordinates, can be utilized to help any indoor pedestrian dead reckoning (PDR) navigation solution as well as mapping purposes.Tests' results demonstrated that vision-based technology (stereo visual odometry technique) is more accurate than the others however it should be aided with additional constraints to improve navigation positional accuracy. Afterward, this chosen technology was used to construct a well-described features database which was checked to assess its accuracy.
- Published
- 2023
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