관성센서와 비전을 이용한 보행용 항법 시스템

다국어 초록 (Multilingual Abstract)

Is this paper, a pedestrian inertial navigation system with vision is proposed. The navigation system using inertial sensors has problems that it is difficult to determine the initial position and the position error increases over time. To solve these problems, a vision system in addition to an inertial navigation system is used, where a camera is attached to a pedestrian. Landmarks are installed to known positions so that the position and orientation of a camera can be computed once a camera views the landmark. Using this position information, estimation errors in the inertial navigation system is compensated.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 비전 시스템
• 3. 관성 항법 시스템
• 4. 비전과 관성 항법 시스템의 결합
• 5. 실험
• 6. 결론
• 감사의 글
• 참고문헌
• 저자소개

참고문헌 (Reference)

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13 R. C. Gonzalez, "Digital Image Processing" Prentice Hall 2002

14 L. Naimark, "Circular data matrix fiducial system and robust image processing for a wearable vision-inertial self-tracker" 27-36, 2002

15 S. Park, "Autonomous Mobile Robot Navigation Using Passive RFID in Indoor Environment" 56 (56): 2366-2373, 2009

16 M. R. Strakowski, "An ultrasonic obstacle detector based on phase beamforming principles" 6 (6): 179-186, 2006

17 T. H. Riehle, "An indoor navigation system to support the visually impaired" 4435-4438, 2008