CHAMELEON: Visual-inertial Indoor Navigation

J. Rydell, and E. Emilsson

Abstract:	This paper presents a study of an indoor navigation system, CHAMELEON. The system is based on simultaneous localization and mapping (SLAM), using a stereo camera combined with an inertial measurement unit (IMU). Results from a number of navigation experiments are shown. Some experiments were performed in parallel with a foot-mounted system, CENTIPEDE, and results from this system are shown as a comparison. Additionally, the ability of the camera-based system to generate building maps is demonstrated.
Published in:	Proceedings of IEEE/ION PLANS 2012 April 24 - 26, 2012 Myrtle Beach Marriott Resort & Spa Myrtle Beach, South Carolina
Pages:	541 - 546
Cite this article:	Rydell, J., Emilsson, E., "CHAMELEON: Visual-inertial Indoor Navigation," Proceedings of IEEE/ION PLANS 2012, Myrtle Beach, South Carolina , April 2012, pp. 541-546. https://doi.org/10.1109/PLANS.2012.6236925
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