IMAGE MATCHING OPTIMIZATION VIA VISION AND INERTIAL DATA FUSION: APPLICATION TO NAVIGATION OF THE VISUALLY IMPAIRED

摘要

Autonomous navigation by humans or robots is usually based on stereo image matching. However, classic image matching methods are not suitable for wearable real-time navigation systems. This paper proposes a new image-matching algorithm which fuses information from both images and inertial data. A preliminary evaluation of the algorithm shows that it is effective for indoor navigation.