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Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using Inertial Sensors

Garcia Puyol, Maria and Bobkov, Dmytro and Robertson, Patrick and Jost, Thomas (2014) Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using Inertial Sensors. IEEE Transactions on Intelligent Transportation Systems, 15 (4), pp. 1714-1727. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TITS.2014.2303115. ISSN 1524-9050.

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Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6746646&tag=1

Abstract

Pedestrian navigation is an important ingredient for efficient multimodal transportation, such as guidance within large transportation infrastructures. A requirement is accurate positioning of people in indoor multistory environments. To achieve this, maps of the environment play a very important role. Foot-SLAM is an algorithm based on the simultaneous localization and mapping (SLAM) principle that relies on human odometry, i.e., measurements of a pedestrian’s steps, to build probabilistic maps of human motion for such environments and can be applied using crowdsourcing. In this paper, we extend FootSLAM to multistory buildings following a Bayesian derivation. Our approach employs a particle filter and partitions the map space into a grid of adjacent hexagonal prisms with eight faces. We model the vertical component of the odometry errors using an autoregressive integrated moving average (ARIMA) model and extend the geographic tree-based data structure that efficiently stores the probabilistic map, allowing real-time processing. We present the multistory FootSLAM maps that were created from three data sets collected in different buildings (one large office building and two university buildings). Hereby, the user was only carrying a single foot-mounted inertial measurement unit (IMU). We believe the resulting maps to be strong evidence of the robustness of FootSLAM. This paper raises the future possibility of crowdsourced indoor mapping and accurate navigation using other forms of human odometry, e.g., obtained with the low-cost and nonintrusive sensors of a handheld smartphone.

Item URL in elib:https://elib.dlr.de/90430/
Document Type:Article
Title:Pedestrian Simultaneous Localization and Mapping in Multistory Buildings Using Inertial Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Garcia Puyol, MariaUNSPECIFIEDUNSPECIFIED
Bobkov, DmytroUNSPECIFIEDUNSPECIFIED
Robertson, PatrickUNSPECIFIEDUNSPECIFIED
Jost, ThomasUNSPECIFIEDUNSPECIFIED
Date:August 2014
Journal or Publication Title:IEEE Transactions on Intelligent Transportation Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:15
DOI:10.1109/TITS.2014.2303115
Page Range:pp. 1714-1727
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
ISSN:1524-9050
Status:Published
Keywords:FootSLAM, SLAM, Positioning, Navigation, IMU, Inertial Sensors,
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 - Project Dependable Navigation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Jost, Thomas
Deposited On:16 Sep 2014 11:29
Last Modified:08 Mar 2018 18:36

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