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Seeing Eye Phone: a smart phone-based indoor localization and guidance system for the visually impaired

机译：Seeing Eye Phone：基于智能手机的视障者室内定位和引导系统

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In order to help the visually impaired as they navigate unfamiliar environment such as public buildings, this paper presents a novel smart phone, vision-based indoor localization, and guidance system, called Seeing Eye Phone. This system requires a smart phone from the user and a server. The smart phone captures and transmits images of the user facing forward to the server. The server processes the phone images to detect and describe 2D features by SURF and then matches them to the 2D features of the stored map images that include their corresponding 3D information of the building. After features are matched, Direct Linear Transform runs on a subset of correspondences to find a rough initial pose estimate and the Levenberg-Marquardt algorithm further refines the pose estimate to find a more optimal solution. With the estimated pose and the camera's intrinsic parameters, the location and orientation of the user are calculated using 3D location correspondence data stored for features of each image. Positional information is then transmitted back to the smart phone and communicated to the user via text-to-speech. This indoor guiding system uses efficient algorithms such as SURF, homographs, multi-view geometry, and 3D to 2D reprojection to solve a very unique problem that will benefit the visually impaired. The experimental results demonstrate the feasibility of using a simple machine vision system design to accomplish a complex task and the potential of building a commercial product based on this design.
机译：为了帮助视障人士在不熟悉的环境（例如公共建筑）中导航，本文提出了一种新颖的智能手机，基于视觉的室内定位和制导系统，称为Seeing Eye Phone。该系统需要来自用户和服务器的智能手机。智能电话捕获并转发面向服务器的用户图像。服务器通过SURF处理电话图像以检测和描述2D要素，然后将其与存储的地图图像的2D要素进行匹配，其中包括其对应的建筑物3D信息。匹配特征后，直接线性变换将在对应子集上运行以找到粗略的初始姿态估计，Levenberg-Marquardt算法进一步完善姿态估计以找到更理想的解决方案。利用估计的姿势和相机的固有参数，可以使用为每个图像的特征存储的3D位置对应数据来计算用户的位置和方向。位置信息然后被发送回智能手机，并通过文本到语音传达给用户。这种室内引导系统使用有效的算法，例如SURF，单应线图，多视图几何以及3D到2D投影，解决了一个非常独特的问题，它将使视障人士受益。实验结果证明了使用简单的机器视觉系统设计来完成复杂任务的可行性以及基于该设计构建商业产品的潜力。

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