FootSLAM: Pedestrian Simultaneous Localization and Mapping Without Exteroceptive Sensors-Hitchhiking on Human Perception and Cognition

In this paper, we describe FootSLAM, a Bayesian estimation approach that achieves simultaneous localization and mapping for pedestrians. FootSLAM uses odometry obtained with foot-mounted inertial sensors. Whereas existing approaches to infrastructure-less pedestrian position determination are either...

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Bibliographic Details
Published in:	Proceedings of the IEEE Vol. 100; no. Special Centennial Issue; pp. 1840 - 1848
Main Authors:	Angermann, Michael, Robertson, Patrick
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.05.2012 Institute of Electrical and Electronics Engineers
Subjects:	Applied sciences Bayesian methods Detection, estimation, filtering, equalization, prediction Electrical engineering. Electrical power engineering Electronic equipment and fabrication. Passive components, printed wiring boards, connectics Electronics Exact sciences and technology FeetSLAM FootSLAM Human factors Information, signal and communications theory Legged locomotion Mobile radio mobility management Navigation odometry Optical telecommunications pedestrian navigation Power electronics, power supplies Sensors Signal and communications theory Signal, noise Simultaneous localization and mapping simultaneous localization and mapping (SLAM) Telecommunications Telecommunications and information theory Visualization Positioning Parameter estimation odometry Pedestrian Cognition Mapping FootSLAM Accuracy Infinite medium pedestrian navigation Bayes network FeetSLAM Localization Growth of error Bayes estimation Prior information Exteroceptive sensor Measurement sensor Power electronics simultaneous localization and mapping (SLAM) Long term Subjective evaluation Power device Lidar Bayes methods Smartphone
ISSN:	0018-9219, 1558-2256
Online Access:	Get full text
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