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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
Received: 30 May 2013; in revised form: 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 which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Placer, M.; Kovačič, S. Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker. Sensors 2013, 13, 9836-9859.

AMA Style

Placer M, Kovačič S. Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker. Sensors. 2013; 13(8):9836-9859.

Chicago/Turabian Style

Placer, Mitja; Kovačič, Stanislav. 2013. "Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker." Sensors 13, no. 8: 9836-9859.


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