TY  - JOUR
PY  - 2013//
TI  - Enhancing indoor inertial pedestrian navigation using a shoe-worn marker
JO  - Sensors (Basel)
A1  - Placer, Mitja
A1  - Kovačič, Stanislav
SP  - 9836
EP  - 9859
VL  - 13
IS  - 8
N2  - 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.<p />  <p>Language: en</p>
LA  - en
SN  - 1424-8220
UR  - http://dx.doi.org/10.3390/s130809836
ID  - ref1
ER  -