Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Pose Determination from Line-to-Plane Correspondences: Existence Condition and Closed-Form Solutions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
A Wearable Haptic Navigation Guidance System
ISWC '98 Proceedings of the 2nd IEEE International Symposium on Wearable Computers
Drishti: An Integrated Indoor/Outdoor Blind Navigation System and Service
PERCOM '04 Proceedings of the Second IEEE International Conference on Pervasive Computing and Communications (PerCom'04)
Design and development of an indoor navigation and object identification system for the blind
Assets '04 Proceedings of the 6th international ACM SIGACCESS conference on Computers and accessibility
Dynamic Environment Exploration Using a Virtual White Cane
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Digital Sign System for Indoor Wayfinding for the Visually Impaired
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
A robotic wayfinding system for the visually impaired
IAAI'04 Proceedings of the 16th conference on Innovative applications of artifical intelligence
IEEE Transactions on Robotics
Auditory guidance with the Navbelt-a computerized travel aid forthe blind
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
The GuideCane-applying mobile robot technologies to assist thevisually impaired
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
(Computer) vision without sight
Communications of the ACM
Proceedings of the 27th Annual ACM Symposium on Applied Computing
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In this paper, we present the design and analysis of a portable position and orientation (pose) estimation aid for the visually impaired. Our prototype navigation aid consists of a foot-mounted pedometer and a white cane-mounted sensing package, which comprises a three-axis gyroscope and a two-dimensional (2D) laser scanner. We introduce a two-layered estimator that tracks the 3D orientation of the white cane in the first layer, and the 2D position of the person holding the cane in the second layer. Our algorithm employs a known building map to update the personâ聙聶s position, and exploits perpendicularity in the building layout as a 3D structural compass. We analytically study the observability properties of the linearized dynamical system, and we provide sufficient observability conditions. We evaluate the real-world performance of our localization aid, and demonstrate its reliability for accurate, real-time human localization.