Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR

Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with...
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Autor*in:	Duy Duong Pham [verfasserIn] Young Soo Suh [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2016

Schlagwörter:	inertial sensor IMU distance sensor LIDAR pedestrian navigation Kalman filters

Übergeordnetes Werk:	In: Sensors - MDPI AG, 2003, 16(2016), 1, p 120
Übergeordnetes Werk:	volume:16 ; year:2016 ; number:1, p 120

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/s16010120

Katalog-ID:	DOAJ023915153

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allfieldsSound	10.3390/s16010120 doi (DE-627)DOAJ023915153 (DE-599)DOAJef26c35f95c74884ad9a12dd4b4ae9cb DE-627 ger DE-627 rakwb eng TP1-1185 Duy Duong Pham verfasserin aut Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatically detected. The detected walls are used to correct the heading of the pedestrian path. Through experiments, it is shown that the accuracy of the heading is significantly improved using the proposed algorithm. Furthermore, the system is shown to work robustly in indoor environments with many doors and passing people. inertial sensor IMU distance sensor LIDAR pedestrian navigation Kalman filters Chemical technology Young Soo Suh verfasserin aut In Sensors MDPI AG, 2003 16(2016), 1, p 120 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:16 year:2016 number:1, p 120 https://doi.org/10.3390/s16010120 kostenfrei https://doaj.org/article/ef26c35f95c74884ad9a12dd4b4ae9cb kostenfrei http://www.mdpi.com/1424-8220/16/1/120 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 16 2016 1, p 120
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source	In Sensors 16(2016), 1, p 120 volume:16 year:2016 number:1, p 120
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topic_facet	inertial sensor IMU distance sensor LIDAR pedestrian navigation Kalman filters Chemical technology
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callnumber-first	T - Technology
author	Duy Duong Pham
spellingShingle	Duy Duong Pham misc TP1-1185 misc inertial sensor misc IMU misc distance sensor misc LIDAR misc pedestrian navigation misc Kalman filters misc Chemical technology Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR
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topic_title	TP1-1185 Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR inertial sensor IMU distance sensor LIDAR pedestrian navigation Kalman filters
topic	misc TP1-1185 misc inertial sensor misc IMU misc distance sensor misc LIDAR misc pedestrian navigation misc Kalman filters misc Chemical technology
topic_unstemmed	misc TP1-1185 misc inertial sensor misc IMU misc distance sensor misc LIDAR misc pedestrian navigation misc Kalman filters misc Chemical technology
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title	Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR
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title_sort	pedestrian navigation using foot-mounted inertial sensor and lidar
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title_auth	Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR
abstract	Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatically detected. The detected walls are used to correct the heading of the pedestrian path. Through experiments, it is shown that the accuracy of the heading is significantly improved using the proposed algorithm. Furthermore, the system is shown to work robustly in indoor environments with many doors and passing people.
abstractGer	Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatically detected. The detected walls are used to correct the heading of the pedestrian path. Through experiments, it is shown that the accuracy of the heading is significantly improved using the proposed algorithm. Furthermore, the system is shown to work robustly in indoor environments with many doors and passing people.
abstract_unstemmed	Foot-mounted inertial sensors can be used for indoor pedestrian navigation. In this paper, to improve the accuracy of pedestrian location, we propose a method using a distance sensor (LIDAR) in addition to an inertial measurement unit (IMU). The distance sensor is a time of flight range finder with 30 m measurement range (at 33.33 Hz). Using a distance sensor, walls on corridors are automatically detected. The detected walls are used to correct the heading of the pedestrian path. Through experiments, it is shown that the accuracy of the heading is significantly improved using the proposed algorithm. Furthermore, the system is shown to work robustly in indoor environments with many doors and passing people.
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title_short	Pedestrian Navigation Using Foot-Mounted Inertial Sensor and LIDAR
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