Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker
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 directl...
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2013-08-01
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Online Access: | http://www.mdpi.com/1424-8220/13/8/9836 |
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doaj-ad34bcd1cd3141719003dc07b28ff1d62020-11-24T21:39:50ZengMDPI AGSensors1424-82202013-08-011389836985910.3390/s130809836Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn MarkerMitja PlacerStanislav KovačičWe 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.http://www.mdpi.com/1424-8220/13/8/9836indoor positioningstrapdown inertial navigationpedestrian dead reckoningmarker trackingunscented Kalman filterunit quaternion space |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mitja Placer Stanislav Kovačič |
spellingShingle |
Mitja Placer Stanislav Kovačič Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker Sensors indoor positioning strapdown inertial navigation pedestrian dead reckoning marker tracking unscented Kalman filter unit quaternion space |
author_facet |
Mitja Placer Stanislav Kovačič |
author_sort |
Mitja Placer |
title |
Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker |
title_short |
Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker |
title_full |
Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker |
title_fullStr |
Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker |
title_full_unstemmed |
Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker |
title_sort |
enhancing indoor inertial pedestrian navigation using a shoe-worn marker |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2013-08-01 |
description |
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. |
topic |
indoor positioning strapdown inertial navigation pedestrian dead reckoning marker tracking unscented Kalman filter unit quaternion space |
url |
http://www.mdpi.com/1424-8220/13/8/9836 |
work_keys_str_mv |
AT mitjaplacer enhancingindoorinertialpedestriannavigationusingashoewornmarker AT stanislavkovacic enhancingindoorinertialpedestriannavigationusingashoewornmarker |
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