Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker

• Main Authors: Mitja Placer, Stanislav Kovačič
• Format: Article
• Language: English
• Published: MDPI AG 2013-08-01
• Series: Sensors
• Subjects: indoor positioning; strapdown inertial navigation; pedestrian dead reckoning; marker tracking; unscented Kalman filter; unit quaternion space
• Online Access: http://www.mdpi.com/1424-8220/13/8/9836

We propose a novel hybrid inertial sensors-based indoor pedestrian dead reckoning system, aided by computer vision-derived position measurements. In contrast to prior vision-based or vision-aided solutions, where environmental markers were used—either deployed in known positions or extracted directly from it—we use a shoe-fixed marker, which serves as positional reference to an opposite shoe-mounted camera during foot swing, making our system self-contained. Position measurements can be therefore more reliably fed to a complementary unscented Kalman filter, enhancing the accuracy of the estimated travelled path for 78%, compared to using solely zero velocities as pseudo-measurements.