Recently, researchers have been exploring various ways to improve the effectiveness and efficiency of autonomous vehicles by researching new methods, especially for indoor scenarios. Autonomous Vehicles in indoor navigation systems possess many challenges especially the limited accuracy of GPS in indoor scenarios. Several, robust methods have been explored for autonomous vehicles in indoor scenarios to solve this problem, but the ineffectiveness of the proposed methods is the high deployment cost. To address the above-mentioned problems we have presented A low-cost indoor navigation method for autonomous vehicles called Affordable Indoor Navigation Solution (AINS) which is based on based on Monocular Camera. Our proposed solution is mainly based on a mono camera without relying on various huge or power-inefficient sensors to find the path, such as range finders and other navigation sensors. Our proposed method shows that we can deploy autonomous vehicles indoor navigation systems while taking into consideration the cost. We can observe that the results shown by our solution are better than existing solutions and we can reduce the estimated error and time consumption.

翻译：近期，研究人员通过探索新方法致力于提升自主车辆的有效性与效率，尤其在室内场景中。自主车辆在室内导航系统中面临诸多挑战，尤其是GPS在室内环境中的精度有限。已有多种鲁棒方法被探索用于解决室内场景下的自主车辆导航问题，但这些方法普遍存在部署成本过高的局限。针对上述问题，我们提出一种名为"低成本室内导航方案（AINS）"的自主车辆室内导航方法，该方法基于单目摄像头实现。该方案主要依赖单目摄像头，无需依赖测距仪等高功耗大体积传感器进行路径规划。实验表明，本方法可在兼顾成本的前提下实现自主车辆室内导航系统的部署。与现有方案相比，本方法能有效降低估算误差与时间消耗，展现出更优性能。