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Gentner, Christian and Ulmschneider, Markus (2017) Simultaneous Localization and Mapping for Pedestrians using Low-Cost Ultra-Wideband System and Gyroscope. In: International Conference on Indoor Positioning and Indoor Navigation 2017. IPIN 2017, Japan.
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Abstract
Ultra-wideband (UWB) is a promising positioning system that has undergone massive research development in recent years. Most UWB systems assume prior knowledge on the positions of the UWB anchors. Without knowing the anchor positions, an accurate position estimate of a user is difficult. Hence, this paper presents a novel simultaneous localization and mapping (SLAM) approach for pedestrian localization using a UWB system, where the locations of the anchors are unknown. We fuse the distance estimates of the UWB system with heading information obtained from an inertial measurement unit (IMU). We evaluate the proposed algorithm based on measurements with a moving pedestrian and fixed anchors with unknown positions. The evaluations show that an accurate position estimation of both the pedestrian and the anchors is possible without any prior knowledge on the anchor positions.
| Item URL in elib: | https://elib.dlr.de/112974/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | Simultaneous Localization and Mapping for Pedestrians using Low-Cost Ultra-Wideband System and Gyroscope | |||||||||
| Authors: |
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| Date: | 2017 | |||||||||
| Journal or Publication Title: | International Conference on Indoor Positioning and Indoor Navigation 2017 | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | Published | |||||||||
| Keywords: | SLAM, UWB, IMU, anchor-free, simultaneous localization and mapping, PF, particle filter, RBPF | |||||||||
| Event Title: | IPIN 2017 | |||||||||
| Event Location: | Japan | |||||||||
| Event Type: | international Conference | |||||||||
| HGF - Research field: | Aeronautics, Space and Transport | |||||||||
| HGF - Program: | Space | |||||||||
| HGF - Program Themes: | Communication and Navigation | |||||||||
| DLR - Research area: | Raumfahrt | |||||||||
| DLR - Program: | R KN - Kommunikation und Navigation | |||||||||
| DLR - Research theme (Project): | R - Vorhaben GNSS2/Neue Dienste und Produkte (old) | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Institute of Communication and Navigation > Communications Systems | |||||||||
| Deposited By: | Gentner, Christian | |||||||||
| Deposited On: | 11 Dec 2017 09:32 | |||||||||
| Last Modified: | 20 Jun 2021 15:49 |
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