[IEEE RA-L] Floor Plan Based Active Global Localization and Navigation Aid for pBLV

Описание к видео [IEEE RA-L] Floor Plan Based Active Global Localization and Navigation Aid for pBLV

In this work, we developed a novel algorithm to assist individuals with blindness or low vision in navigating unfamiliar environments. Using a visual-inertial camera, a microprocessor, and an architectural floor plan, our approach features a novel active global localization method to accurately determine the person's position. This is combined with odometry drift correction and loop closure on reversals, enabling efficient path planning to guide the person to their target destination.

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