An Indoor Wayfinding System Based on Geometric Features Aided Graph SLAM for the Visually Impaired.
This paper presents a 6-degree of freedom (DOF) pose estimation (PE) method and an indoor wayfinding system based on the method for the visually impaired. The PE method involves two-graph simultaneous localization and mapping (SLAM) processes to reduce the accumulative pose error of the device. In the first step, the floor plane is extracted from the 3-D camera's point cloud and added as a landmark node into the graph for 6-DOF SLAM to reduce roll, pitch, and Z errors. In the second step, the wall lines are extracted and incorporated into the graph for 3-DOF SLAM to reduce X , Y , and yaw errors. The method reduces the 6-DOF pose error and results in more accurate pose with less computational time than the state-of-the-art planar SLAM methods. Based on the PE method, a wayfinding system is developed for navigating a visually impaired person in an indoor environment. The system uses the estimated pose and floor plan to locate the device user in a building and guides the user by announcing the points of interest and navigational commands through a speech interface. Experimental results validate the effectiveness of the PE method and demonstrate that the system may substantially ease an indoor navigation task.
He
H
Zhang
Cang
C
Ye
D002183:Canes; D051341:Dependent Ambulation; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000295:instrumentation*; D010355:Patient Identification Systems / Q000379:methods*; D015203:Reproducibility of Results; D012656:Self-Help Devices; D012680:Sensitivity and Specificity; D065854:Spatial Navigation; D016896:Treatment Outcome; D014584:User-Computer Interface; D019987:Persons with Visual Disabilities / Q000534:rehabilitation; D059015:Wireless Technology / Q000295:instrumentation