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Simultaneous Localization and Mapping for Pedestrians using only Foot-Mounted Inertial Sensors

Robertson, Patrick and Angermann, Michael and Krach, Bernhard (2009) Simultaneous Localization and Mapping for Pedestrians using only Foot-Mounted Inertial Sensors. In: Proc. Ubicomp 2009. ACM. Ubicomp 2009, 2009-09-30 - 2009-10-03, Orlando, Florida, USA. ISBN 978 1 60558 431 7.

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Official URL: http://doi.acm.org

Abstract

In this paper we describe a new Bayesian estimation approach for simultaneous mapping and localization for pedestrians based on odometry with foot mounted inertial sensors. When somebody walks within a constrained area such as a building, then even noisy and drift-prone odometry measurements can give us information about features like turns, doors, and walls, which we can use to build a form of a map of the explored area, especially when these features are revisited over time. Our initial results for our novel scheme which we call “FootSLAM” are very surprising in that true SLAM with stable relative positioning accuracy of 1-2 meters for pedestrians is indeed possible based on inertial sensors alone without any prior known building indoor layout. Furthermore, the 2D maps obtained even for just 10 minutes of walking converge to a good approximation of the true layout forming the basis for future automated collaborative mapping of buildings.

Item URL in elib:https://elib.dlr.de/60188/
Document Type:Conference or Workshop Item (Paper)
Title:Simultaneous Localization and Mapping for Pedestrians using only Foot-Mounted Inertial Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Robertson, PatrickUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Angermann, MichaelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Krach, BernhardEADS AGUNSPECIFIEDUNSPECIFIED
Date:30 September 2009
Journal or Publication Title:Proc. Ubicomp 2009
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:ACM
ISBN:978 1 60558 431 7
Status:Published
Keywords:Pedestrian navigation, Simultaneous Localization and Mapping, Odometry, Indoor Positioning, INS-based positioning. FootSLAM
Event Title:Ubicomp 2009
Event Location:Orlando, Florida, USA
Event Type:international Conference
Event Start Date:30 September 2009
Event End Date:3 October 2009
Organizer:Association for Computing Machinery, ACM
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W KN - Kommunikation/Navigation
DLR - Research area:Space
DLR - Program:W KN - Kommunikation/Navigation
DLR - Research theme (Project):W - Projekt GalileoNAV (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Robertson, Dr.-Ing. Patrick
Deposited On:09 Oct 2009 06:53
Last Modified:24 Apr 2024 19:25

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