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Related Experiment Video

Updated: Jan 18, 2026

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Robust Anchor-Aided GNSS/PDR Pedestrian Localization via Factor Graph Optimization for Remote Sighted Assistance.

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Summary

Remote Sighted Assistance helps visually impaired people navigate unfamiliar areas. This study introduces a video-based map system with improved positioning accuracy for better real-time guidance.

Keywords:
factor graph optimization (FGO)global navigation satellite system (GNSS)pedestrian dead reckoning (PDR)remote sighted assistance (RSA)road-anchorsmartphonevideo-based map

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Area of Science:

  • Computer Science
  • Robotics
  • Human-Computer Interaction

Background:

  • Remote Sighted Assistance (RSA) systems aid visually impaired people (VIPs) in daily travel.
  • Unfamiliar environments challenge RSA effectiveness due to complex decision-making and VIP anxiety.
  • Existing systems lack robust navigation support in complex urban settings.

Purpose of the Study:

  • To propose a video-based map assistance method for enhancing RSA systems.
  • To improve pedestrian positioning accuracy for better navigation guidance.
  • To reduce decision-making complexity and VIP anxiety during travel.

Main Methods:

  • Developed a video-based map assistance system using pre-recorded pedestrian path videos aligned with geographic locations.
  • Introduced a factor graph optimization (FGO) algorithm integrating Global Navigation Satellite System (GNSS) and pedestrian dead reckoning (PDR) data.
  • Incorporated road-anchor constraints, turning-point-based anchor matching, and coarse-to-fine optimization for enhanced localization.

Main Results:

  • The anchor-aided FGO-GNSS/PDR algorithm demonstrated robust and accurate positioning in urban environments.
  • Mean horizontal positioning error was reduced by 42%–65%, and maximum error by 38%–76% with anchor constraints.
  • The system achieved a mean horizontal positioning error of 1.36 m, supporting video-based map construction.

Conclusions:

  • The proposed method significantly improves positioning accuracy for RSA systems in complex urban settings.
  • Video-based map assistance enhances navigation guidance and route preview capabilities.
  • This approach effectively addresses challenges faced by VIPs and sighted agents in unfamiliar environments.