A wearable interface for topological mapping and localization in indoor environments

Authors:
Grant Schindler;Christian Metzger;Thad Starner
Affiliations:
Georgia Institute of Technology, College of Computing, Atlanta, GA;ETH-Swiss Federal Institute of Technology, Information Management, Zurich, Switzerland;Georgia Institute of Technology, College of Computing, Atlanta, GA
Venue:
LoCA'06 Proceedings of the Second international conference on Location- and Context-Awareness
Year:
2006

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Abstract

We present a novel method for mapping and localization in indoor environments using a wearable gesture interface. The ear-mounted FreeDigiter device consists of an infrared proximity sensor and a dual axis accelerometer. A user builds a topological map of a new environment by walking through the environment wearing our device. The accelerometer is used to identify footsteps while the proximity sensor detects doorways. While mapping an environment, finger gestures are used to label detected doorways. Once a map is constructed, a particle filter is employed to track a user walking through the mapped environment while wearing the device. In this tracking mode, the device can be used as a context-aware gesture interface by responding to finger gestures differently according to which room the user occupies. We present experimental results for both mapping and localization in a home environment.