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Successive Collaborative SLAM: Towards Reliable Inertial Pedestrian Navigation

Kaiser, Susanna (2020) Successive Collaborative SLAM: Towards Reliable Inertial Pedestrian Navigation. Information, 11 (464). Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/info11100464. ISSN 2078-2489.

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Abstract

In emergency scenarios, such as a terrorist attack or a building on fire, it is desirable to track first responders in order to coordinate the operation. Pedestrian tracking methods solely based on inertial measurement units in indoor environments are candidates for such operations since they do not depend on pre-installed infrastructure. A very powerful indoor navigation method represents collaborative simultaneous localization and mapping (collaborative SLAM), where the learned maps of several users can be combined in order to help indoor positioning. In this paper, maps are estimated from several similar trajectories (multiple users) or one user wearing multiple sensors. They are combined successively in order to obtain a precise map and positioning. For reducing complexity, the trajectories are divided into small portions (sliding window technique) and are partly successively applied to the collaborative SLAM algorithm. We investigate successive combinations of the map portions of several pedestrians and analyze the resulting position accuracy. The results depend on several parameters, e.g., the number of users or sensors, the sensor drifts, the amount of revisited area, the number of iterations, and the windows size. We provide a discussion about the choice of the parameters. The results show that the mean position error can be reduced to ≈0.5 m when applying partly successive collaborative SLAM.

Item URL in elib:https://elib.dlr.de/136590/
Document Type:Article
Title:Successive Collaborative SLAM: Towards Reliable Inertial Pedestrian Navigation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kaiser, SusannaSusanna.Kaiser (at) dlr.dehttps://orcid.org/0000-0003-3210-6259
Date:30 September 2020
Journal or Publication Title:Information
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:11
DOI :10.3390/info11100464
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
ISSN:2078-2489
Status:Published
Keywords:indoor navigation; pedestrian dead reckoning; simultaneous localization and mapping; FootSLAM; collaborative mapping; professional use cases
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:21 Oct 2020 12:24
Last Modified:21 Oct 2020 12:24

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