TY  - JOUR
PY  - 2012//
TI  - Enhancing positioning accuracy in urban terrain by fusing data from a GPS receiver, inertial sensors, stereo-camera and digital maps for pedestrian navigation
JO  - Sensors (Basel)
A1  - Przemyslaw, Baranski
A1  - Pawel, Strumillo
SP  - 6764
EP  - 6801
VL  - 12
IS  - 6
N2  - The paper presents an algorithm for estimating a pedestrian location in an urban environment. The algorithm is based on the particle filter and uses different data sources: a GPS receiver, inertial sensors, probability maps and a stereo camera. Inertial sensors are used to estimate a relative displacement of a pedestrian. A gyroscope estimates a change in the heading direction. An accelerometer is used to count a pedestrian's steps and their lengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestrian kinematics, e.g., it is assumed that a pedestrian cannot cross buildings, fences etc. This limits position inaccuracy to ca. 10 m. Incorporation of depth estimates derived from a stereo camera that are compared to the 3D model of an environment has enabled further reduction of positioning errors. As a result, for 90% of the time, the algorithm is able to estimate a pedestrian location with an error smaller than 2 m, compared to an error of 6.5 m for a navigation based solely on GPS.<p />  <p>Language: en</p>
LA  - en
SN  - 1424-8220
UR  - http://dx.doi.org/10.3390/s120606764
ID  - ref1
ER  -