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Visual odometer for pedestrian navigation

  • Simant Prakoonwit
    ,
  • Rommanee Jirawimut
    ,
  • Franjo Cecelja
    ,
  • Wamadeva Balachandran
Research Output: Contribution to journal Article Peer-review

Abstract

This paper presents a visual odometer system using stereo cameras for pedestrian navigation. A novel method for pedestrian navigation based on the knowledge of gait analysis and robust ego-motion estimation is proposed. Two major problems of implementing the system on a pedestrian are stated. Firstly, the features collected from cameras attached on a walking pedestrian normally have winding trajectory resulting in inaccurate tracking. Secondly, the observed object moving independently leads to incorrect ego-motion estimation. Using gait analysis, capturing images at the same stage of the walking cycle produces a less winding trajectory that allows tracking without stabilizing the images. Robust ego motion is also introduced to eliminate outliers that are independently moving features, mismatched features in the stereo matching step and incorrectly assigned features in the tracking step. Data processing techniques including corner detection, stereo matching, triangulation, tracking, and ego-motion estimation are employed. The outcome is the estimated incremental ego motion of the stereo cameras. The approach not only enables the system to operate on walking users but also improves the accuracy of ego-motion estimation.

Publication Information

Output type

Research Output: Contribution to journal Article Peer-review

Original language

English

Pages from-to (Number of pages)

Pages 1166-1173

Journal (Volume, Issue Number)

IEEE Transactions on Instrumentation and Measurement (Volume 52, Issue 4)

Publication milestones

  • Published - 01/01/2003

Publication status

Published - 01/01/2003

ISSN

0018-9456

External Publication IDs

  • handle.net: 10547/284232
  • Scopus: 0141988802

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