title: Enhancing indoor inertial pedestrian navigation using a shoe-worn marker.
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.
authors.affiliation: Harpha Sea, Čevljarska Ulica 8, Koper 6000, Slovenia. mitja@harphasea.si
authors.forename: Mitja
authors.initials: M
authors.lastname: Placer
authors.forename: Stanislav
authors.initials: S
authors.lastname: Kovačič
mesh_terms: D061725:Accelerometry / Q000295:instrumentation*; D001185:Artificial Intelligence; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D009949:Orientation / Q000502:physiology*; D012775:Shoes; D014159:Transducers; D016138:Walking / Q000502:physiology*
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