Aiming at the problem of cumulative error in the relative position estimation, a location drift detection method is proposed in this paper. This method calculates the location drift distance in the relative position estimation to realize the correction for the camera position and ensure that the positioning error is within a reasonable range. Firstly, this paper selects the inlier points of all estimated feature points based on the fitted line. Secondly, these inlier points are adopted to estimate the drift distance in order to reduce the estimation error. Finally, the drift threshold is set, and the positioning system will switch the relative position estimation to the absolute position estimation when the drift distance is larger than the drift threshold. Experimental analysis and simulation results show that the proposed method in this paper can effectively control the positioning error.


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    Title :

    Location Drift Detection Method for Monocular Vision based Indoor Positioning


    Contributors:
    Jia, Shuang (author) / Ma, Lin (author) / Wei, Shouming (author) / Fu, Yunhai (author)


    Publication date :

    2022-06-01


    Size :

    466178 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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