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Integrating Moving Platforms in a SLAM Agorithm for Pedestrian Navigation

Kaiser, Susanna and Lang, Christopher (2018) Integrating Moving Platforms in a SLAM Agorithm for Pedestrian Navigation. Sensors, 18 (12). Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s18124367. ISSN 1424-8220.

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In 3D pedestrian indoor navigation applications position estimation based on inertial measurement units fails when Moving Platforms (MPs) like escalators and elevators are not properly implemented. In this work, we integrate the MPs in an upper 3D-Simultaneous Localization and Mapping (SLAM) algorithm which is cascaded to the pedestrian dead-reckoning system (PDR) technique. The step and heading measurements resulting from the PDR are fed to the SLAM that additionally estimates a map of the environment during the walk in order to reduce the remaining drift. For integrating MPs, we present a new proposal function for the particle filter implementation of the SLAM to account for the presence of MPs. In addition, a new weighting function for Features like escalators and elevators is developed and the features are learned and stored in the learned map. With this, locations of moving platforms are favored when revisiting the moving platform again. The results show that the mean height error is about 0.1m and the mean position error is <1m for walks with long distances along the floors even when using multiple floor level changes with different numbers of floors in a multistory environment. For walks with short walking distances and many floor level changes the mean height error can be higher (about 0.5m). The final floor number is in all cases except one correctly estimated.

Item URL in elib:https://elib.dlr.de/122253/
Document Type:Article
Title:Integrating Moving Platforms in a SLAM Agorithm for Pedestrian Navigation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Kaiser, SusannaUNSPECIFIEDhttps://orcid.org/0000-0003-3210-6259UNSPECIFIED
Date:10 December 2018
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:Indoor Navigation; Pedestrian Dead Reckoning; Simultaneous Localization and Mapping; 16 FootSLAM; Moving Platform Detection
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:20 Dec 2018 15:08
Last Modified:31 Oct 2023 15:22

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