强大的辅助GNSS/PDR行人定位通过因子图优化用于远程视觉辅助
Sen Huang1, Jinjing Zhao1, Yihan Zhong2
1School of Electronics, Peking University, Beijing 100871, China.
Sensors (Basel, Switzerland)
|September 13, 2025
概括
远程视觉辅助可以帮助视力受损的人在不熟悉的地区导航. 这项研究引入了一种基于视频的地图系统,其定位精度得到了改进,可提供更好的实时指导.
科学领域:
- 计算机科学 计算机科学
- 机器人技术 机器人技术 机器人技术
- 人与计算机的交互
背景情况:
- 远程视觉辅助 (RSA) 系统帮助视障人士 (VIPs) 在日常旅行中.
- 由于复杂的决策和VIP焦虑,不熟悉的环境挑战了RSA的有效性.
- 现有的系统在复杂的城市环境中缺乏强大的导航支持.
研究的目的:
- 提出基于视频的地图辅助方法,以加强RSA系统.
- 提高行人定位准确度,以提供更好的导航指导.
- 为了减少旅行期间的决策复杂性和VIP焦虑.
主要方法:
- 开发了一个基于视频的地图辅助系统,使用预先录制的行人路径视频与地理位置对齐.
- 引入了一个因子图优化 (FGO) 算法,集成全球导航卫星系统 (GNSS) 和行人死亡计算 (PDR) 数据.
- 整合了路约束,基于转折点的匹配,以及用于增强本地化的粗细优化.
主要成果:
- 在辅助的FGO-GNSS/PDR算法证明了在城市环境中强大的和准确的定位.
- 平均水平定位误差降低了42%~65%,最大误差降低了38%~76%在制约的情况下.
- 该系统实现了1.36米的平均水平定位误差,支持基于视频的地图构建.
结论:
- 拟议的方法可显著提高RSA系统在复杂的城市环境中的定位精度.
- 基于视频的地图辅助增强了导航指导和路线预览能力.
- 这种方法有效地解决了VIP和视觉特工在陌生的环境中面临的挑战.
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