A Human Motion Model Based on Maps for Navigation Systems

Abstract

Foot mounted indoor positioning systems work remarkably well when using additionally the knowledge of floor-plans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another floor when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as Particle Filters (PF), long term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians’ motion. In this paper a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floor-plans than a simple binary weighting of particles (i.e. eliminating those that crossed walls and keeping the rest). We will show that the motion model will help to obtain better performance in critical navigation scenarios where two or more modes may be competing for some of the time (multi-modal scenarios).