FootSLAM: Pedestrian simultaneous localization and mapping without exteroceptive sensorshitchhiking on human perception and cognition

Proceedings of the IEEE

Volumn 100, Issue SPL CONTENT, 2012, Pages 1840-1848

  Angermann, Michael ^a   Robertson, Patrick ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

FeetSLAM; FootSLAM; odometry; pedestrian navigation; simultaneous localization and mapping (SLAM)

Indexed keywords

BAYESIAN NETWORKS; INERTIAL NAVIGATION SYSTEMS; MAPPING; OPTICAL RADAR;

FEETSLAM; FOOTSLAM; ODOMETRY; PEDESTRIAN NAVIGATION; SIMULTANEOUS LOCALIZATION AND MAPPING;

ROBOTICS;

EID: 84861200536     PISSN: 00189219     EISSN: None     Source Type: Journal    
DOI: 10.1109/JPROC.2012.2189785     Document Type: Conference Paper

References (26)

1. R. Smith, M. Self, and P. Cheeseman, "Estimating uncertain spatial relationships in robotics, "in Autonomous Robot Vehicles. New York: Springer-Verlag, 1990, pp. 167-193.
2. J. Leonard and H. Durrant-Whyte, "Simultaneous map building and localization for an autonomous mobile robot, "in Proc. IEEE Int. Workshop Intell. Robots Syst., Osaka, Japan, 1991, Nov. 1991, vol. 3, pp. 1442-1447.
3. R. Hulsing, "MEMS inertial rate and acceleration sensor, "IEEE Aerosp. Electron. Syst. Mag., vol. 13, no. 11, pp. 17-23, Nov. 1998.
4. G. Dissanayake, S. Sukkarieh, E. Nebot, and H. Durrant-Whyte, "The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications, "IEEE Trans. Robot. Autom., vol. 17, no. 5, pp. 731-747, Oct. 2001.
5. C. Randell, C. Djiallis, and H. Muller, "Personal position measurement using dead reckoning, "in Proc. 7th IEEE Int. Symp. Wearable Comput., Los Alamitos, CA, Oct. 2003, pp. 166-173.
6. E. Foxlin, "Pedestrian tracking with shoe-mounted inertial sensors, "IEEE Comput. Graph. Appl., vol. 25, no. 6, pp. 38-46, Nov. 2005.
7. S. Beauregard, Widyawan, and M. Klepal, "Indoor PDR performance enhancement using minimal map information and particle filters, "in Proc. IEEE/ION Position Location Navig. Symp., Monterey, CA, May 2008, pp. 141-147.
8. B. Krach and P. Robertson, "Cascaded estimation architecture for integration of foot-mounted inertial sensors, "in Proc. IEEE/ION Position Location Navig. Symp., Monterey, CA, May 2008, pp. 112-119.
9. O. Woodman and R. Harle, "Pedestrian localisation for indoor environments, "in Proc. 11th ACM Int. Conf. Ubiquitous Comput., Seoul, Korea, 2008, pp. 114-123.
10. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit, "FastSLAM: A factored solution to the simultaneous localization and mapping problem, "in Proc. AAAI Nat. Conf. Artif. Intell., Edmonton, ON, Canada, 2002, pp. 593-598.
11. A. Elfes, "Using occupancy grids for mobile robot perception and navigation, "IEEE Comput. Mag., vol. 22, no. 6, pp. 46-57, Jun. 1989.
12. M. Angermann, P. Robertson, T. Kemptner, and M. Khider, "A high precision reference data set for pedestrian navigation using foot-mounted inertial sensors, "in Proc. IEEE Int. Conf. Indoor Positioning Indoor Navig., Sep. 2010, DOI: 10.1109/IPIN.2010. 5646839.
13. K. Kay, T. Naselaris, R. Prenger, and J. Gallant, "Identifying natural images from human brain activity, "Nature, vol. 452, pp. 352-355, Mar. 2008.
14. S. Nishimoto, A. T. Vu, T. Naselaris, Y. Benjamini, B. Yu, and J. L. Gallant, "Reconstructing visual experiences from brain activity evoked by natural movies, "Current Biol., vol. 21, no. 19, pp. 1641-1646, Oct. 2011.
15. R. Chen, W. Chen, X. Chen, X. Zhang, and Y. Chen, "Sensing strides using EMG signal for pedestrian navigation, "GPS Solutions, vol. 15, pp. 161-170, 2011.
16. P. Robertson, M. Angermann, B. Krach, and M. Khider, "SLAM dance: Inertial-based joint mapping and positioning for pedestrian navigation, "InsideGNSS Mag., pp. 48-59, May 2010.
17. P. Robertson, M. Angermann, and B. Krach, "Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors, "in Proc. 11th ACM Int. Conf. Ubiquitous Comput., 2009, pp. 93-96.
18. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, "A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking, "IEEE Trans. Signal Process., vol. 50, no. 2, pp. 174-188, Feb. 2002.
19. P. Robertson, M. Angermann, and M. Khider, "Improving simultaneous localization and mapping for pedestrian navigation and automatic mapping of buildings by using online human-based feature labeling, "in Proc. IEEE/ION Position Location Navig. Symp., May 2010, pp. 365-374.
20. P. Robertson, M. Garcia Puyol, and M. Angermann, "Collaborative pedestrian mapping of buildings using inertial sensors and FootSLAM, "in Proc. ION GNSS, Sep. 2011, pp. 1366-1377.
21. C. Berrou, A. Glavieux, and P. Thitimajshima, "Near Shannon limit error-correcting coding and decoding: Turbo-codes. Part 1, "in Proc. IEEE Int. Conf. Commun., May 1993, vol. 2, pp. 1064-1070.
22. K. P. Murphy, Y. Weiss, and M. I. Jordan, "Loopy belief propagation for approximate inference: An empirical study, "in Proc. Uncertainty AI, 1999, pp. 467-475.
23. J. Pearl, Probabilistic Reasoning in Intelligent Systems: Networks of Plausible Inference. San Francisco, CA: Morgan Kaufmann, 1988.
24. FootSLAM Videos. [Online]. Available: http://www.kn-s.dlr.de/indoornav
25. M. Kasevich and S. Chu, "Atomic interferometry using stimulated Raman transitions, "Phys. Rev. Lett., vol. 67, pp. 181-184, Jul. 1991.
26. B. Canuel, F. Leduc, D. Holleville, A. Gauguet, J. Fils, A. Virdis, A. Clairon, N. Dimarcq, C. J. Bordé, A. Landragin, and P. Bouyer, "Six-axis inertial sensor using cold-atom interferometry, "Phys. Rev. Lett., vol. 97, 010402, Jul. 2006.