Abstract-This paper presents an indoor human localization system for the visually impaired. A prototype portable device has been implemented, consisting of a pedometer and a standard white cane, on which a laser range finder and a 3-axis gyroscope have been mounted. A novel pose estimation algorithm has been developed for robustly estimating the heading and position of a person navigating in a known building. The basis of our estimation scheme is a two-layered Extended Kalman Filter (EKF) for attitude and position estimation. The first layer maintains an attitude estimate of the white cane, which is subsequently provided to the second layer where a position estimate of the user is generated. Experimental results are presented that demonstrate the reliability of the proposed method for accurate, real-time human localization.
In REF , a laser range finder, a three-axis gyroscope and a pedometer were mounted on a cane to provide position and attitude information to blind people.
An Indoor Localization Aid for the Visually Impaired
Proceedings 2007 IEEE International Conference on Robotics and Automation
Proceedings 2007 IEEE International Conference on Robotics and Automation
Engineering Computer Science