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FootSLAM: Pedestrian Simultaneous Localization and Mapping Without Exteroceptive Sensors - Hitchhiking on Human Perception and Cognition

Angermann, Michael and Robertson, Patrick (2012) FootSLAM: Pedestrian Simultaneous Localization and Mapping Without Exteroceptive Sensors - Hitchhiking on Human Perception and Cognition. Proceedings of the IEEE, 100 (Special Centennial Issue), 1840 -1848 . IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/JPROC.2012.2189785. ISSN 0018-9219.

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Abstract

In this paper, we describe FootSLAM, a Bayesian estimation approach that achieves simultaneous localization and mapping for pedestrians. FootSLAM uses odometry obtained with foot-mounted inertial sensors. Whereas existing approaches to infrastructure-less pedestrian position determination are either subject to unbounded growth of positioning error, or require either a priori map information, or exteroceptive sensors, such as cameras or light detection and ranging (LIDARs), FootSLAM achieves long-term error stability solely based on inertial sensor measurements. An analysis of the problem based on a dynamic Bayesian network (DBN) model reveals that this surprising result becomes possible by effectively hitchhiking on human perception and cognition. Two extensions to FootSLAM, namely, PlaceSLAM, for incorporating additional measurements or user provided hints, and FeetSLAM, for automated collaborative mapping, are discussed. Experimental data that validate FootSLAM and its extensions are presented. It is foreseeable that the sensors and processing power of future devices such as smartphones are likely to suffice to position the bearer with the same accuracy that FootSLAM achieves with foot-mounted sensors already today.

Item URL in elib:https://elib.dlr.de/76558/
Document Type:Article
Title:FootSLAM: Pedestrian Simultaneous Localization and Mapping Without Exteroceptive Sensors - Hitchhiking on Human Perception and Cognition
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Robertson, Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Date:13 May 2012
Journal or Publication Title:Proceedings of the IEEE
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:100
DOI:10.1109/JPROC.2012.2189785
Page Range:1840 -1848
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:0018-9219
Status:Published
Keywords:FeetSLAM; FootSLAM; odometry; pedestrian navigation; simultaneous localization and mapping (SLAM)
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: Angermann, Dr.-Ing. Michael
Deposited On:19 Jul 2012 09:50
Last Modified:08 Mar 2018 18:49

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