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Sensors 2013, 13(8), 9836-9859; doi:10.3390/s130809836
Article

Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker

1,*  and 2
1 Harpha Sea, Čevljarska Ulica 8, Koper 6000, Slovenia 2 Fakulteta za Elektrotehniko, Univerza v Ljubljani, Tržaška 25, Ljubljana 1000, Slovenia
* Author to whom correspondence should be addressed.
Received: 30 May 2013 / Revised: 18 July 2013 / Accepted: 25 July 2013 / Published: 2 August 2013
(This article belongs to the Section Physical Sensors)
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Abstract

We propose a novel hybrid inertial sensors-based indoor pedestrian dead reckoning system, aided by computer vision-derived position measurements. In contrast to prior vision-based or vision-aided solutions, where environmental markers were used—either deployed in known positions or extracted directly from it—we use a shoe-fixed marker, which serves as positional reference to an opposite shoe-mounted camera during foot swing, making our system self-contained. Position measurements can be therefore more reliably fed to a complementary unscented Kalman filter, enhancing the accuracy of the estimated travelled path for 78%, compared to using solely zero velocities as pseudo-measurements.
Keywords: indoor positioning; strapdown inertial navigation; pedestrian dead reckoning; marker tracking; unscented Kalman filter; unit quaternion space indoor positioning; strapdown inertial navigation; pedestrian dead reckoning; marker tracking; unscented Kalman filter; unit quaternion space
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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Placer, M.; Kovačič, S. Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker. Sensors 2013, 13, 9836-9859.

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