Visual Gyroscope and Odometer for Pedestrian Indoor Navigation with a Smartphone

Laura Ruotsalainen

Abstract:	A pedestrian navigation system has to be accurate, reasonably priced, easy to use and light to carry to be adopted into use. Smartphones are attractive platforms for the navigation systems due to their small size, low cost and diversity of sensors feasible for positioning. Pedestrian navigation is mostly needed in GNSS degraded and denied areas such as indoors and in urban canyons. Self-contained sensors function independently regardless of the environment by augmenting the radio positioning systems, like GPS or wireless radio sensors, using information of the motion of the user. The measurements from self-contained sensors in a smartphone are, however, noisy and biased and thus need some aiding. This paper presents a method of using measurements from consecutive images as a gyroscope and an odometer. The rotation of the camera is calculated from vanishing points and the change in the heading angle used as a gyroscope measurement. Using the tilt obtained from the vanishing point calculations the distance to the objects in the navigation environment is observed and the translation between consecutive images measured with image homography from the image points of the objects. The translation measurements are then used as measurements from an odometer.
Published in:	Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012) September 17 - 21, 2012 Nashville Convention Center, Nashville, Tennessee Nashville, TN
Pages:	2422 - 2431
Cite this article:	Ruotsalainen, Laura, "Visual Gyroscope and Odometer for Pedestrian Indoor Navigation with a Smartphone," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 2422-2431.
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