Dual Scaling and Sub-model based PnP Algorithm for Indoor Positioning based on Optical Sensing using Smartphones

Arief Affendi Juri*, Tughrul Arslan, Yichen Du, Zekun Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Traditionally, optical positioning has been an area that attracted significant interest for specialised applications such as robotic navigation. With the recent development and integration of cameras in mobile devices, optical positioning is gaining further interest in indoor positioning applications targeting human navigation. Furthermore, the release of the Google Tango platform has attracted the interest of several researchers aiming to improve optical positioning using 3D mapping. However, estimating a 3D pose based on PnP problem has been a challenge which affects positioning accuracy. This paper proposes two novel strategies to improve PnP algorithms, and hence accuracy. The first "scaling" strategy, is based on minimising model size, with the second, "sub-model" strategy, involving the selection of only the related area of the model to be used. The proposed strategies also have the advantage of limiting the error to the set scale size. The scale and sub-model strategies show an average improvement of 1.61 and 3.33 m, respectively.

Original languageEnglish
Title of host publication2016 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages5
Publication statusPublished - 2016
EventInternational Conference on Indoor Positioning and Indoor Navigation (IPIN) - Madrid, Spain
Duration: 4 Oct 20167 Oct 2016

Publication series

NameInternational Conference on Indoor Positioning and Indoor Navigation
PublisherIEEE
ISSN (Print)2162-7347

Conference

ConferenceInternational Conference on Indoor Positioning and Indoor Navigation (IPIN)
Country/TerritorySpain
CityMadrid
Period4/10/167/10/16

Keywords

  • optical positioning
  • PnP
  • Google Tango
  • POSE ESTIMATION

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