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Indoor Localization for the Visually Impaired

Author
Kawchak, Thomas
Published
[University Park, Pennsylvania] : Pennsylvania State University, 2018.
Physical Description
1 electronic document
Additional Creators
Narayanan, Vijaykrishnan, 1972- and Schreyer Honors College
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Open Access.
Summary
Visually impaired people rely on sighted people to perform many navigation tasks. With advances in technologies to perform localization and navigation, visually impaired people will gain autonomy for actions like grocery shopping or moving around within buildings. This Thesis reviews recent techniques for indoor localization and proposes a system that can be used to help visually impaired people navigate. Currently, navigation systems focus on robotics, autonomous vehiclesandaugmentedreality(AR)experiences. Further,stateofthearttechniquesforsimultaneous localization and mapping (SLAM) do not scale well to large areas due to associated problems like drift. This work will propose and test a system that can be used to help localize and navigate visually impaired users in larger spaces using a portable device with very little prior exposure to andinformationofthearea. TheproposedsystemwillusetheGISTimagefeaturetoformarough location estimate and the ZED camera spatial mapping features to perform ner localization. At certain levels of localization granularity, the system is able to achieve better performance than the ZED camera. The impact of this work will have implications for SLAM that is being performed at large scales with the aim ofhelping to provide a system thatwill helpvisually impaired users in indoor environments.
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Dissertation Note
B.S. Pennsylvania State University, 2018.
Technical Details
The full text of the dissertation is available as an Adobe Acrobat .pdf file ; Adobe Acrobat Reader required to view the file.
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