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Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker
Harpha Sea, Čevljarska Ulica 8, Koper 6000, Slovenia
Fakulteta za Elektrotehniko, Univerza v Ljubljani, Tržaška 25, Ljubljana 1000, Slovenia
* Author to whom correspondence should be addressed.
Received: 30 May 2013; in revised form: 18 July 2013 / Accepted: 25 July 2013 / Published: 2 August 2013
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
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Cite This Article
MDPI and ACS Style
Placer, M.; Kovačič, S. Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker. Sensors 2013, 13, 9836-9859.
Placer M, Kovačič S. Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker. Sensors. 2013; 13(8):9836-9859.
Placer, Mitja; Kovačič, Stanislav. 2013. "Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker." Sensors 13, no. 8: 9836-9859.