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HUC
2009
Springer

Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors

10 years 2 months ago
Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors
In this paper we describe a new Bayesian estimation approach for simultaneous mapping and localization for pedestrians based on odometry with foot mounted inertial sensors. When somebody walks within a constrained area such as a building, then even noisy and drift-prone odometry measurements can give us information about features like turns, doors, and walls, which we can use to build a form of a map of the explored area, especially when these features are revisited over time. Our initial results for our novel scheme which we call “FootSLAM” are very surprising in that true SLAM with stable relative positioning accuracy of 1-2 meters for pedestrians is indeed possible based on inertial sensors alone without any prior known building indoor layout. Furthermore, the 2D maps obtained even for just 10 minutes of walking converge to a good approximation of the true layout forming the basis for future automated collaborative mapping of buildings. Author Keywords Pedestrian navigation, Si...
Patrick Robertson, Michael Angermann, Bernhard Kra
Added 25 Jul 2010
Updated 25 Jul 2010
Type Conference
Year 2009
Where HUC
Authors Patrick Robertson, Michael Angermann, Bernhard Krach
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