Abstract
We present a novel method for mapping and localization in indoor environments using a wearable gesture interface. The ear-mounted FreeDigiter device consists of an infrared proximity sensor and a dual axis accelerometer. A user builds a topological map of a new environment by walking through the environment wearing our device. The accelerometer is used to identify footsteps while the proximity sensor detects doorways. While mapping an environment, finger gestures are used to label detected doorways. Once a map is constructed, a particle filter is employed to track a user walking through the mapped environment while wearing the device. In this tracking mode, the device can be used as a context-aware gesture interface by responding to finger gestures differently according to which room the user occupies. We present experimental results for both mapping and localization in a home environment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Choi, I., Ricci, C.: Foot-mounted gesture detection and its application in virtual environments. In: IEEE International Conference on Systems, Man and Cybernetics (1997)
Choset, H.: Sensor based motion planning: The hierarchical generalized voronoi graph. PhD thesis, California Institute of Technology (1996)
Choset, H., Nagatani, K.: Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization. IEEE Trans. on Robotics and Automation 17(2) (April 2001)
Lee, S.-W., Mase, K.: Incremental motion-based location recognition. In: ISWC (2001)
Lee, S.-W., Mase, K.: Activity and location recognition using wearable sensors. Pervasive Computing 1(3) (July-September 2002)
Liao, L., Fox, D., Hightower, J., Kautz, H., Schulz, D.: Voronoi tracking: Location estimation using sparse and noisy sensor data. In: IROS (2003)
Metzger, C., Anderson, M., Starner, T.: Freedigiter: A contact-free device for gesture control. In: ISWC (2004)
Randell, C., Muller, H.: Context awareness by analysing accelerometer data. In: ISWC (2000)
Ranganathan, A., Dellaert, F.: Inference in the space of topological maps: An mcmc-based approach. In: IROS (2004)
Simmons, R., Koenig, S.: Probabilistic robot navigation in partially observable environments. In: IJCAI (1995)
Thrun, S., Fox, D., Dellaert, F., Burgard, W.: Particle filters for mobile robot localization. In: Doucet, A., de Freitas, N., Gordon, N. (eds.) Sequential Monte Carlo Methods in Practice, January 2001, Springer, New York (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Schindler, G., Metzger, C., Starner, T. (2006). A Wearable Interface for Topological Mapping and Localization in Indoor Environments. In: Hazas, M., Krumm, J., Strang, T. (eds) Location- and Context-Awareness. LoCA 2006. Lecture Notes in Computer Science, vol 3987. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11752967_5
Download citation
DOI: https://doi.org/10.1007/11752967_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-34150-5
Online ISBN: 978-3-540-34151-2
eBook Packages: Computer ScienceComputer Science (R0)