Vision-Based SLAM Navigation for Vibro-Tactile Human-Centered Indoor Guidance
Based on well-established robotic concepts of autonomous localization and navigation we present a system prototype to assist camera-based indoor navigation for human utilization implemented in the Robot Operating System (ROS). Our prototype takes advantag
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Cognitive Systems, School of Informatics, Reutlingen University, Reutlingen, Germany [email protected] Institute of Cognitive Science, University of Osnabr¨ uck, Osnabr¨ uck, Germany
Abstract. Based on well-established robotic concepts of autonomous localization and navigation we present a system prototype to assist camera-based indoor navigation for human utilization implemented in the Robot Operating System (ROS). Our prototype takes advantage of state-of-the-art computer vision and robotic methods. Our system is designed for assistive indoor guidance. We employ a vibro-tactile belt to serve as a guiding device to render derived motion suggestions to the user via vibration patterns. We evaluated the effectiveness of a variety of vibro-tactile feedback patterns for guidance of blindfolded users. Our prototype demonstrates that a vision-based system can support human navigation, and may also assist the visually impaired in a human-centered way. Keywords: Mobility aids · Navigation systems visually impaired · Mobile and wearable systems
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Introduction
As humans have become accustomed to a variety of outdoor navigation solutions in their daily lives, we are recognizing an increase in indoor navigation needs as well. People want to find specific rooms, meeting places or other target locations in unknown buildings, e.g. airports or stations, which confront them with the risk of getting lost or wasting time while searching for the right path to their destination. The Global Positioning System (GPS) network conventionally performs a localization task in outdoor environments and is not suitable for direct use in indoor scenarios and nor it is able to provide reliable information regarding the user’s orientation. By virtue of a construction-related low signal quality and multipath propagation as well as poor satellite positions, GPS can not provide an indoor localization accurate enough to justify its adoption for navigation within typical indoor scenarios [1]. To achieve the ability to navigate inside buildings, we need to find a substitute for such a localization system c Springer International Publishing Switzerland 2016 G. Hua and H. J´ egou (Eds.): ECCV 2016 Workshops, Part II, LNCS 9914, pp. 343–359, 2016. DOI: 10.1007/978-3-319-48881-3 24
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and provide the needed information with technologies well-suited to meet the requirements of indoor fields of operation. There is vast research on mobile robot navigation and localization where the key problem that is solved is simultaneous localization and mapping (SLAM). SLAM approaches attempt to create a map of unknown areas while simultaneously tracking the current position or pose of the considered system relative to the permanently extended and updated map [2]. To solve this problem a wide range of different sensor technologies like laser [3], sonar [4], radar [5,6] or a variety of cameras [7,8] can be used to acquire the required features of the confronted environment. Especially for camera-based technolo
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