Improved Position Accuracy of Foot-Mounted Inertial Sensor by Discrete Corrections from Vision-Based Fiducial Marker Tracking (2020)
In this paper, we present a novel pedestrian indoor positioning system that uses sensor fusion between a foot-mounted inertial measurement unit (IMU) and a vision-based fiducial marker tracking system. The goal is to provide an after-action review for first responders during training exercises. The main contribution of this work comes from the observation that different walking types (e.g., forward walking, sideways walking, backward walking) lead to different levels of position and heading error. Our approach takes this into account when accumulating the error, thereby leading to more-accurate estimations. Through experimentation, we show the variation in error accumulation and the improvement in accuracy alter when and how often to activate the camera tracking system, leading to better balance between accuracy and power consumption overall. The IMU and vision-based systems are loosely coupled using an extended Kalman filter (EKF) to ensure accurate and unobstructed positioning computation. The motion model of the EKF is derived from the foot-mounted IMU data and the measurement model from the vision system. Existing indoor positioning systems for training exercises require extensive active infrastructure installation, which is not viable for exercises taking place in a remote area. With the use of passive infrastructure (i.e., fiducial markers), the positioning system can accurately track user position over a longer duration of time and can be easily integrated into the environment. We evaluated our system on an indoor trajectory of 250 m. Results show that even with discrete corrections, near a meter level of accuracy can be achieved. Our proposed system attains the positioning accuracy of 0.55 m for a forward walk, 1.05 m for a backward walk, and 1.68 m for a sideways walk with a 90% confidence level.
CitationKhan H, Clark A, Woodward G, W. Lindeman R Improved Position Accuracy of Foot-Mounted Inertial Sensor by Discrete Corrections from Vision-Based Fiducial Marker Tracking. Sensors. 20(18). 5031-5031.
This citation is automatically generated and may be unreliable. Use as a guide only.
Keywordsfoot-mounted inertial sensor; zero-velocity update; fiducial marker tracking; extended Kalman filter; visual-inertial sensor fusion
ANZSRC Fields of Research46 - Information and computing sciences::4603 - Computer vision and multimedia computation::460301 - Active sensing
40 - Engineering::4009 - Electronics, sensors and digital hardware::400999 - Electronics, sensors and digital hardware not elsewhere classified
42 - Health sciences::4207 - Sports science and exercise::420701 - Biomechanics
Rights© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Showing items related by title, author, creator and subject.
Meng, Rui Daniel (University of Canterbury. Electrical and Computer Engineering, 2007)For synthetic aperture imaging, position and orientation deviation is of great concern. Unknown motions of a Synthetic Aperture Sonar (SAS) can blur the reconstructed images and degrade image quality considerably. ...
Mukundan, R. (University of Canterbury. Computer Science and Software Engineering., 2003)Several pattern recognition applications use orthogonal moments to capture independent shape characteristics of an image, with minimum amount of information redundancy in a feature set. Legendre, Zernike, and Pseudo-Zernike ...
Zurek DB; Taylor AJ; Evans CS; Nelson XJ (COMPANY OF BIOLOGISTS LTD, 2010)Jumping spiders, or salticids, sample their environment using a combination of two types of eyes. The forward-facing pair of 'principal' eyes have narrow fields of view, but exceptional spatial resolution, while the two ...
Liu, J; Muruganandan, V; Clare, R; Ramırez Trujillo, M; Weddell, S (IEEE, 2021)Astronomical images captured by ground-based telescopes, including at University of Canterbury Mount John Observatory, are distorted due to atmospheric turbulence. The major constituents of atmospheric distortion are ...
Hann, C.E.; Hewett, D.; Revie, J.A.; Chase, Geoff; Shaw, Geoff (University of Canterbury. Mechanical Engineering, 2009)Background: Hyperglycemia and diabetes result in vascular complications, most notably diabetic retinopathy (DR). The prevalence of DR is growing and is a leading cause of blindness and/or visual impairment in developed ...
A Comparison of Methods for Automated Motion Correction of DCE-MRI Perfusion Datasets Evaluated in Terms of Diagnostic Accuracy: A CE-MARC sub-study Zakkaroff, C.; Radjenovic, A.; Biglands, J. D.; Plein, S.; Greenwood, J. P.; Magee, D. R. (University of Canterbury. UC High Performance Computing, 2014)Automated mage registration in cardiac myocardial perfusion is a necessity before quantitative perfusion can be widely accepted in clinical practice. Increasingly complex motion correction algorithms are being developed to ...