A Visual Positioning System for Indoor Blind Navigation
He Zhang,Cang Ye,He Zhang,Cang Ye
This paper presents a visual positioning system (VPS) for real-time pose estimation of a robotic navigation aid (RNA) for assistive navigation. The core of the VPS is a new method called depth-enhanced visual-inertial odometry (DVIO) that uses an RGB-D camera and an inertial measurement unit (IMU) to estimate the RNA's pose. The DVIO method extracts the geometric feature (the floor plane) from the...
