Estimation continue de la pose d'un équipement tenu en main par fusion des données visio-inertielles pour les applications de navigation piétonne en milieux urbains

Abstract : To support pedestrian navigation in urban and indoor spaces, an accurate pose estimate (i.e. 3Dposition and 3D orientation) of an equipment held inhand constitutes an essential point in the development of mobility assistance tools (e.g.Augmented Reality applications). On the assumption that the pedestrian is only equipped with general public devices, the pose estimation is restricted to the use of low-cost sensors embedded in the latter (i.e. an Inertial and Magnetic Measurement Unit and a monocular camera). In addition, urban and indoor spaces, comprising closely-spaced buildings and ferromagnetic elements,constitute challenging areas for localization and sensor pose estimation during large pedestrian displacements.However, the recent development and provision of data contained in 3D Geographical Information System constitutes a new wealth of data usable for localization and pose estimation.To address these challenges, this thesis proposes solutions to improve pedestrian localization and hand-held device pose estimation in urban and indoor spaces. The proposed solutions integrate inertial and magnetic-based attitude estimation, monocular Visual Odometry with pedestrian motion estimation for scale estimation, 3D GIS known object recognition-based absolute pose estimation and Pedestrian Dead-Reckoning updates. All these solutions are fused to improve accuracy and to continuously estimate a qualified pose of the handheld device. This qualification is required tovalidate an on-site augmented reality display. To assess the proposed solutions, experimental data has been collected during pedestrian walks in an urban space with sparse known objects and indoors passages.
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https://hal.archives-ouvertes.fr/tel-01935037
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Submitted on : Thursday, December 6, 2018 - 6:20:08 PM
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  • HAL Id : tel-01935037, version 2

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Nicolas Antigny. Estimation continue de la pose d'un équipement tenu en main par fusion des données visio-inertielles pour les applications de navigation piétonne en milieux urbains. Traitement du signal et de l'image [eess.SP]. École centrale de Nantes, 2018. Français. ⟨NNT : 2018ECDN0027⟩. ⟨tel-01935037v2⟩

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