liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Submap joining smoothing and mapping for camera-based indoor localization and mapping
Swedish Defence Research Agency (Sweden).
Swedish Defence Research Agency (Sweden).
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering. Swedish Defence Research Agency (Sweden).ORCID iD: 0000-0002-4434-8055
Swedish Defence Research Agency (Sweden).
2011 (English)Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Personnel positioning is important for safety in e.g. emergency response operations. In GPS-denied environments, possible positioning solutions include systems based on radio frequency communication, inertial sensors, and cameras. Many camera-based systems create a map and localize themselves relative to that. The computational complexity of most such solutions grows rapidly with the size of the map. One way to reduce the complexity is to divide the visited region into submaps. This paper presents a novel method for merging conditionally independent submaps (generated using e.g. EKF-SLAM) by the use of smoothing. Using this approach it is possible to build large maps in close to linear time. The method is demonstrated in two indoor scenarios, where data was collected with a trolley-mounted stereo vision camera.

Place, publisher, year, edition, pages
2011. Vol. 8056
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-128007DOI: 10.1117/12.883945OAI: oai:DiVA.org:liu-128007DiVA, id: diva2:928687
Conference
SPIE, Visual Information Processing XX
Available from: 2016-05-16 Created: 2016-05-16 Last updated: 2016-08-31

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records

Grönwall, Christina

Search in DiVA

By author/editor
Grönwall, Christina
By organisation
Automatic ControlFaculty of Science & Engineering
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 108 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf