https://scholars.lib.ntu.edu.tw/handle/123456789/625347
標題: | Real-time indoor localization with visual SLAM for in-building emergency response | 作者: | Tseng P.-Y JACOB JE-CHIAN LIN YING-CHIEH CHAN ALBERT CHEN |
關鍵字: | Automated external defibrillator (AED); Emergency medical service (EMS); Indoor localization; Simultaneous localization and mapping (SLAM) | 公開日期: | 2022 | 卷: | 140 | 來源出版物: | Automation in Construction | 摘要: | Localization is critical to but also challenging for an efficient first response during indoor emergency situations. This paper describes an economical indoor localization system with a low setup cost based on the visual Simultaneous Localization and Mapping (vSLAM). In addition, threshold for key features per image frame is studied for acceptable localization accuracy. The amount of image input users should collect is also analyzed for reliable localization. To address matching and accuracy issues under varying lighting conditions, a comprehensive approach for accurate localization utilizing vSLAM is also proposed. An actual building was tested for the proposed approach with an average localization success rate over 94%. © 2022 Elsevier B.V. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85129953093&doi=10.1016%2fj.autcon.2022.104319&partnerID=40&md5=0288d6cdf672d1eccb7912db771eafe5 https://scholars.lib.ntu.edu.tw/handle/123456789/625347 |
ISSN: | 09265805 | DOI: | 10.1016/j.autcon.2022.104319 | SDG/關鍵字: | Indoor positioning systems; Mapping; Robotics; Automated external defibrillator; Emergency medical service; Emergency medical services; Indoor localization; Localisation; Real- time; Simultaneous localization and mapping; Visual simultaneous localization and mappings; Emergency services |
顯示於: | 土木工程學系 |
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