Applied Indoor Localization: Map-based, Infrastructure-free, with Divergence Mitigation and Smoothing
Conference Paper, Proceedings of 13th International Conference on Information Fusion (FUSION '10), Vol. 794, pp. 801 - 802, July, 2010
Abstract
We describe an indoor pedestrian tracking system developed for homeland security nuclear radiation search and mapping. The user initializes approximate position and orientation on a prior map. A low-cost body-mounted IMU is used to detect steps and heading change, and this dead-reckoned estimate is registered onto the map using a particle filter.. Experimental evaluation in two buildings with two walkers shows position accuracy of 0.5 m–2m RMS, depending on the degree of local constraint in the floorplan. Extended traverses in open areas are well tolerated.
BibTeX
@conference{MacLachlan-2010-126407,author = {Robert A MacLachlan and Artur Dubrawski},
title = {Applied Indoor Localization: Map-based, Infrastructure-free, with Divergence Mitigation and Smoothing},
booktitle = {Proceedings of 13th International Conference on Information Fusion (FUSION '10)},
year = {2010},
month = {July},
volume = {794},
pages = {801 - 802},
}
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