Citation

Placer M, Kovačič S. Sensors (Basel) 2013; 13(8): 9836-9859.

Affiliation

Harpha Sea, Čevljarska Ulica 8, Koper 6000, Slovenia. mitja@harphasea.si.

Copyright

(Copyright © 2013, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s130809836

PMID

23917258

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.

Language: en