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Collaborative Mapping for Pedestrian Navigation in Security Applications

Garcia Puyol, Maria und Frassl, Martin und Robertson, Patrick (2012) Collaborative Mapping for Pedestrian Navigation in Security Applications. Springer. Future Security 2012, 4-6 September 2012, Bonn, Germany. doi: 10.1007/978-3-642-33161-9_9.

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Kurzfassung

In rescue missions or law enforcement applications, accurate determination of every team member's position and providing this information on a map may signi�cantly improve mutual situation awareness and potentially reduce the risk of accidentally harming a team member. Furthermore, it could help keep track of the areas that have been already visited, helping the coordination of the mission at hand. Whereas in outdoors environments accurate positioning information can be obtained using a GNSS receivers, in indoor or underground environments GNSS signals are strongly disturbed and other means of localization must be called into play. Foot mounted inertial sensors or IMUs have been one of the proposed solutions, but their performance is prone to errors that grow over time. Only when the map of the environment is provided, can these IMUs perform with high accuracy. But building plans or maps of indoor and underground areas are often unavailable, outdated, incomplete and do not re ect furniture or other obstacles that also constraint the pedestrian's motion. How can a reliable map of an indoor environment be generated? FootSLAM - Simultaneous Localization and Mapping for pedestrians - is a novel technique based on foot mounted IMUs that measure the pedestrian's steps while walking. These measurements can be used to generate a map of an environment while determining the pedestrian's location within that map. FootSLAM was recently extended to FeetSLAM, the multiuser scenario in which the maps obtained by two or more pedestrians are combined to generate a more extensive and accurate map of the environment. In this paper we elaborate on di�erent deployment scenarios for Foot- SLAM and its collaborative counterpart in security and emergency applications, yet to be experimentally validated.

elib-URL des Eintrags:https://elib.dlr.de/79038/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Collaborative Mapping for Pedestrian Navigation in Security Applications
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Garcia Puyol, Mariamaria.garciapuyol (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Frassl, Martinmartin.frassl (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Robertson, Patrickpatrick.robertson (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:2012
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
DOI:10.1007/978-3-642-33161-9_9
Verlag:Springer
Status:veröffentlicht
Stichwörter:pedestrian navigation, indoor navigation, SLAM, FootSLAM, collaborative mapping
Veranstaltungstitel:Future Security 2012
Veranstaltungsort:Bonn, Germany
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:4-6 September 2012
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W KN - Kommunikation/Navigation
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W KN - Kommunikation/Navigation
DLR - Teilgebiet (Projekt, Vorhaben):W - Vorhaben GNSS2/Neue Dienste und Produkte (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Kommunikation und Navigation > Nachrichtensysteme
Hinterlegt von: Garcia Puyol, Maria Jesus
Hinterlegt am:29 Nov 2012 09:58
Letzte Änderung:20 Jul 2023 12:06

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