Computer Vision based Indoor Navigation Utilizing Information from Planar Surfaces

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atmire.migration.oldid2637
dc.contributor.advisorNielsen, John
dc.contributor.advisorLachapelle, Gérard
dc.contributor.authorDawar, Neha
dc.date.accessioned2014-09-29T16:20:37Z
dc.date.available2014-11-17T08:00:49Z
dc.date.issued2014-09-29
dc.date.submitted2014en
dc.description.abstractTraditional wireless signalling based outdoor navigation techniques generally result in unsatisfactory performance for indoor environments due to low signal strength and multipath distortions. Computer vision (CV) sensors, due to their low cost and high performance, have gained enormous interest in indoor navigation over the past years. CV based 6DOF trajectory estimation is understood to be a computationally intensive ill-posed problem. Drastic simplification and enhanced robustness are possible in scenarios where camera observed features are constrained to a plane, such as a floor surface. Furthermore, if the features have geometric patterns, such as a regularly tiled surface, significantly more powerful constraints can be implemented. Exploration of such constraints is the aim of this thesis. Experimental results show that centimeter level accuracy in trajectory estimation can be achieved for arbitrary camera motion spanning several meters. As shown in this thesis, this accuracy is a result of constraints due to planar features observed.en_US
dc.identifier.citationDawar, N. (2014). Computer Vision based Indoor Navigation Utilizing Information from Planar Surfaces (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/25404en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/25404
dc.identifier.urihttp://hdl.handle.net/11023/1826
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectComputer Science
dc.subjectEngineering--Electronics and Electrical
dc.subject.classificationIndoor Navigationen_US
dc.subject.classification6DOF egomotionen_US
dc.subject.classificationPlanar surfacesen_US
dc.subject.classificationKalman Filteren_US
dc.subject.classificationLeast Squaresen_US
dc.titleComputer Vision based Indoor Navigation Utilizing Information from Planar Surfaces
dc.typemaster thesis
thesis.degree.disciplineElectrical and Computer Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
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