Enhancing indoor inertial pedestrian navigation using a shoe-worn marker

Sensors (Basel). 2013 Aug 2;13(8):9836-59. doi: 10.3390/s130809836.

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.

Publication types

  • Research Support, Non-U.S. Gov't

MeSH terms

  • Accelerometry / instrumentation*
  • Artificial Intelligence*
  • Equipment Design
  • Equipment Failure Analysis
  • Humans
  • Orientation / physiology*
  • Shoes*
  • Transducers*
  • Walking / physiology*