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

• 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

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...