Evaluation for hybrid location estimation system of image retrieval and SLAM

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説明

The availability of pedestrian location estimation is one of the critical issues to realize a reliable navigation system for pedestrians in daily scenes. We propose a new pedestrian location estimation system that utilizes both the image-retrieval approach we have developed and a SLAM (Simultaneous Localization and Mapping) approach. Both approaches need only one single camera unit as a sensor, and the location is estimated by computer vision technology on both approaches. The problem here is that high processing cost is required to operate two approaches simultaneously. It could be impractical to run these two on a single wearable computing unit. We solve the problem by executing the two approaches on two separate computers that are connected with a computer network. We have implemented a preliminary system that unites the two approaches in hybrid fashion over two computers. We measured its performance in typical daily scenes on our campus. The result is promising for further implementation.

収録刊行物

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