An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter

Yanqi Lu; Jian Huang; Wenxia Xu; Chunjing Tao; Xitai Wang

doi:10.1109/WCICA.2014.7052681

An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter

Yanqi Lu
, Jian Huang^*
, Wenxia Xu
, Chunjing Tao
, Xitai Wang

^*Corresponding author for this work

Huazhong University of Science and Technology
National Research Center for Rehabilitation Technical Aids

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user's lower limb. This system can be used both for monitoring the user's walking status and for realizing the relative localization. A belt of multiple sonar sensors worn by the user can detect the obstacle of unknown environment. Simultaneously, this sonar belt can also be used as the absolute localization device in a similar way as the mobile robot. An EKF is applied to realize the data fusion of different sensor systems. The abilities of obstacle avoidance and indoor localization of the proposed ETA are both verified through experiments.

Original language	English
Title of host publication	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	25-30
Number of pages	6
Edition	March
ISBN (Electronic)	9781479958252
DOIs	https://doi.org/10.1109/WCICA.2014.7052681
State	Published - 2 Mar 2015
Externally published	Yes
Event	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China Duration: 29 Jun 2014 → 4 Jul 2014

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Number	March
Volume	2015-March

Conference

Conference	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Country/Territory	China
City	Shenyang
Period	29/06/14 → 4/07/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Electronic Travel Aids(ETA)
Extended Kalman filter(EKF)
Multi-sensor fusion
The wearable system

Access to Document

10.1109/WCICA.2014.7052681

Cite this

Lu, Y., Huang, J., Xu, W., Tao, C., & Wang, X. (2015). An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 25-30). Article 7052681 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7052681

Lu, Yanqi ; Huang, Jian ; Xu, Wenxia et al. / An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter. Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 25-30 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March).

@inproceedings{57803bd426e0493489f413b2df745f5a,

title = "An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter",

abstract = "Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user's lower limb. This system can be used both for monitoring the user's walking status and for realizing the relative localization. A belt of multiple sonar sensors worn by the user can detect the obstacle of unknown environment. Simultaneously, this sonar belt can also be used as the absolute localization device in a similar way as the mobile robot. An EKF is applied to realize the data fusion of different sensor systems. The abilities of obstacle avoidance and indoor localization of the proposed ETA are both verified through experiments.",

keywords = "Electronic Travel Aids(ETA), Extended Kalman filter(EKF), Multi-sensor fusion, The wearable system",

author = "Yanqi Lu and Jian Huang and Wenxia Xu and Chunjing Tao and Xitai Wang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",

year = "2015",

month = mar,

day = "2",

doi = "10.1109/WCICA.2014.7052681",

language = "英语",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",

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Lu, Y, Huang, J, Xu, W, Tao, C & Wang, X 2015, An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter. in Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March edn, 7052681, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), no. March, vol. 2015-March, Institute of Electrical and Electronics Engineers Inc., pp. 25-30, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, China, 29/06/14. https://doi.org/10.1109/WCICA.2014.7052681

An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter. / Lu, Yanqi; Huang, Jian; Xu, Wenxia et al.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 25-30 7052681 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter

AU - Lu, Yanqi

AU - Huang, Jian

AU - Xu, Wenxia

AU - Tao, Chunjing

AU - Wang, Xitai

PY - 2015/3/2

Y1 - 2015/3/2

N2 - Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user's lower limb. This system can be used both for monitoring the user's walking status and for realizing the relative localization. A belt of multiple sonar sensors worn by the user can detect the obstacle of unknown environment. Simultaneously, this sonar belt can also be used as the absolute localization device in a similar way as the mobile robot. An EKF is applied to realize the data fusion of different sensor systems. The abilities of obstacle avoidance and indoor localization of the proposed ETA are both verified through experiments.

AB - Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user's lower limb. This system can be used both for monitoring the user's walking status and for realizing the relative localization. A belt of multiple sonar sensors worn by the user can detect the obstacle of unknown environment. Simultaneously, this sonar belt can also be used as the absolute localization device in a similar way as the mobile robot. An EKF is applied to realize the data fusion of different sensor systems. The abilities of obstacle avoidance and indoor localization of the proposed ETA are both verified through experiments.

KW - Electronic Travel Aids(ETA)

KW - Extended Kalman filter(EKF)

KW - Multi-sensor fusion

KW - The wearable system

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BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 29 June 2014 through 4 July 2014

ER -

Lu Y, Huang J, Xu W, Tao C, Wang X. An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 25-30. 7052681. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); March). doi: 10.1109/WCICA.2014.7052681

An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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