Managing large-scale mapping and localization for pedestrians using inertial sensors

Abstract

Abstract-Pedestrian navigation in indoor environments without a pre-installed infrastructure still presents many challenges. There are different approaches that address the problem using prior knowledge about the environment when the building plans or similar are available. Since this is not always the case, a family of technologies based on the principle of Simultaneous Localization and Mapping (SLAM) has been proposed. In this paper we will present some estimates on how a mapping process based on FootSLAM -a form of SLAM for pedestrians -might scale for a large-scale collaborative effort eventually encompassing most of our public indoor space, where the mapping entities are humans.Our assumptions on pedestrian motion and area visiting rate together with calculations based on the computational requirements of pedestrian SLAM algorithms allow us to make estimates with regard to the feasibility, scalability and computational cost of wide-scale mapping of indoor areas by pedestrians.

Optimisation of Emergency Rescue Location (ERL) using KLD-Resampling: An Initial Proposal

“…These include distributed and cooperative tracking, Bayesian tracking, pedestrian Simultaneously Localisation and Mapping (SLAM), fusion method, and fingerprinting. Of all these techniques, the pedestrian SLAM technique is the most helpful for locating the position of a pedestrian in a new and constantly changing environment [15][16][17]. It has been successfully used in domestic environments for this purpose [15,18].…”

Optimization of Rao-Blackwellized Particle Filter in Activity Pedestrian Simultaneously Localization and Mapping (SLAM): An Initial Proposal

“…Among these methods, the most capable method to determine pedestrian positions in unknown and changing environments was the SLAM method [5]. For many domestic environments where pedestrians were expected to enter all areas within a room or home, this approach had been proven to robust and successful [5].…”

A Proposal of Emergency Rescue Location (ERL) using Optimization of Inertial Measurement Unit (IMU) based Pedestrian Simultaneously Localization and Mapping (SLAM)

“…A number of solutions based on indoor positioning methods for human pedestrians (PDR) have been offered [1]; these include: Bayesian tracking, distributed and cooperative tracking, fingerprinting, fusion method, pedestrian simultaneously localization and mapping (SLAM), among others. Of these methods, pedestrian SLAM is apparently the most capable of determining a pedestrian's position in an unknown and changeable environment [5]. This is a robust and successful approach employed in a majority of domestic environments where it is beneficial to track the position of a person [5].…”

“…Of these methods, pedestrian SLAM is apparently the most capable of determining a pedestrian's position in an unknown and changeable environment [5]. This is a robust and successful approach employed in a majority of domestic environments where it is beneficial to track the position of a person [5]. In emergencies, rescuers might also need to remove obstacles swiftly to reach an individual.…”