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

^*此作品的通讯作者

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

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	25-30
页数	6
版本	March
ISBN（电子版）	9781479958252
DOI	https://doi.org/10.1109/WCICA.2014.7052681
出版状态	已出版 - 2 3月 2015
已对外发布	是
活动	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, 中国期限: 29 6月 2014 → 4 7月 2014

出版系列

姓名	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
编号	March
卷	2015-March

会议

会议	2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
国家/地区	中国
市	Shenyang
时期	29/06/14 → 4/07/14

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 3 良好健康与福祉

访问文件

10.1109/WCICA.2014.7052681

其它文件与链接

链接到 Scopus 的出版物

引用此

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

Lu, Yanqi ; Huang, Jian ; Xu, Wenxia 等. / 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. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 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,

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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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Lu, Y, Huang, J, Xu, W, Tao, C & Wang, X 2015, An Electronic Travel Aid based on multi-sensor fusion using extended Kalman filter. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑, 7052681, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 号码 March, 卷 2015-March, Institute of Electrical and Electronics Engineers Inc., 页码 25-30, 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014, Shenyang, 中国, 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 等.
Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March. 编辑 Institute of Electrical and Electronics Engineers Inc., 2015. 页码 25-30 7052681 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); 卷 2015-March, 号码 March).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

UR - https://www.scopus.com/pages/publications/84932157931

U2 - 10.1109/WCICA.2014.7052681

DO - 10.1109/WCICA.2014.7052681

M3 - 会议稿件

AN - SCOPUS:84932157931

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 25

EP - 30

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014

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. 在 Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014. March 编辑 Institute of Electrical and Electronics Engineers Inc. 2015. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此