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Managing Large-Scale Mapping and Localization for Pedestrians using Inertial Sensors

Garcia Puyol, Maria and Patrick, Robertson and Michael, Angermann (2013) Managing Large-Scale Mapping and Localization for Pedestrians using Inertial Sensors. Managing Ubiquitous Communications and Services (part of PerCom 2013), 18. März 2013, San Diego, California, USA.

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Abstract

Pedestrian navigation in indoor environments without a pre-installed infrastructure still presents many challenges. There are different approaches that address the problem using prior knowledge about the environment when the building plans or similar are available. Since this is not always the case, a family of technologies based on the principle of Simultaneous Localization and Mapping (SLAM) has been proposed. In this paper we will present some estimates on how a mapping process based on FootSLAM - a form of SLAM for pedestrians - might scale for a large-scale collaborative effort eventually encompassing most of our public indoor space, where the mapping entities are humans. Our assumptions on pedestrian motion and area visiting rate together with calculations based on the computational requirements of pedestrian SLAM algorithms allow us to make estimates with regard to the feasibility, scalability and computational cost of wide-scale mapping of indoor areas by pedestrians.

Item URL in elib:https://elib.dlr.de/80707/
Document Type:Conference or Workshop Item (Speech)
Title:Managing Large-Scale Mapping and Localization for Pedestrians using Inertial Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garcia Puyol, Mariamaria.garciapuyol (at) dlr.deUNSPECIFIED
Patrick, Robertsonpatrick.robertson (at) dlr.deUNSPECIFIED
Michael, Angermannmichael.angermann (at) dlr.deUNSPECIFIED
Date:18 March 2013
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:indoor navigation, localization, mapping, SLAM
Event Title:Managing Ubiquitous Communications and Services (part of PerCom 2013)
Event Location:San Diego, California, USA
Event Type:international Conference, Workshop
Event Dates:18. März 2013
Organizer:IEEE
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 Galileo Advanced Applications (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Deposited By: Garcia Puyol, Maria Jesus
Deposited On:16 Jul 2013 11:29
Last Modified:31 Jul 2019 19:39

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