UVIP: Robust UWB aided Visual-Inertial Positioning System for Complex Indoor Environments

Yang，Bo1; Li，Jun2; Zhang，Hong3,4

10.1109/ICRA48506.2021.9561208

2021

IEEE International Conference on Robotics and Automation (ICRA)

1050-4729

2577-087X

978-1-7281-9078-5

Proceedings - IEEE International Conference on Robotics and Automation

2021-May

5454-5460

MAY 30-JUN 05, 2021

null,Xian,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Indoor positioning without GPS is a challenge task, especially, in complex scenes or when sensors fail. In this paper, we develop an ultra-wideband aided visual-inertial positioning system (UVIP) which aims to achieve accurate and robust positioning results in complex indoor environments. To this end, a point-line-based stereo visual-inertial odometry (PL-sVIO) is firstly designed to improve the positioning accuracy in structured or low-textured scenarios by making use of line features. Secondly, a loop closure method is proposed to suppress the drift of PL-sVIO based on image patch features described by a CNN for handing the situation of a large environment and viewpoint variation. Thirdly, an accurate relocalization approach is presented for the case when the visual sensor fails. In this scheme, a top-to-down matching strategy from image to point and line features is presented to improve relocalization performance. Finally, the UWB sensor is combined with the visual-inertial system to further improve the accuracy and robustness of the positioning system and provide the results in a fixed reference frame. Thus, desirable real-time positioning results are derived for complex indoor scenes. Evaluations on challenging public datasets and real-world experiments are conducted to demonstrate that the proposed UVIP can provide more accurate and robust positioning results in complex indoor environments, even in the case when the visual sensor fails or in the absence of UWB anchors.

Visualization Lighting Sensor systems Robustness Real-time systems Sensors Indoor environment

其他

英语

CPCI-S ; EI

National Natural Science Foundation of China[51775110];National Natural Science Foundation of China[61703096];

Automation & Control Systems ; Robotics

Automation & Control Systems ; Robotics

WOS:000765738804027

20220911737908

Image enhancement ; Indoor positioning systems ; Stereo image processing ; Ultra-wideband (UWB)

Radio Systems and Equipment:716.3 ; Data Processing and Image Processing:723.2

2-s2.0-85112697149

Scopus

1.The School of Artificial Intelligence,Nanjing University of Information Science and Technology,Nanjing,China
2.The School of Computer and Electronic Information,Nanjing Normal University,Nanjing,China
3.The Department of Electronic and Electrical Engineering,Southern University of Science and Technology,Shenzhen,China
4.The University of Alberta,Canada

Yang，Bo,Li，Jun,Zhang，Hong. UVIP: Robust UWB aided Visual-Inertial Positioning System for Complex Indoor Environments[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:5454-5460.