The camera orientation is observed using the vanishing point locations, and this information is transformed into user heading change information and also used for visual odometer calculations. All calculations are of sufficiently low complexity to be adoptable for navigation with current smartphones. We introduce the concept of a “visual gyroscope” and a “visual odometer,” based on recovering user information by tracking the feature motion between consecutive images. Visual aiding is a complementary method for augmenting these systems, because it suffers from errors and availability problems of a different nature. However, the integrated solution suffers from the errors induced by the sensors in the INS and the low availability and infrastructure dependency of the WLAN. Integration of different positioning systems such as wireless local area networks (WLAN) and INS has proven to be the most promising approach for navigation in global navigation satellite system challenging environments.
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