文章基本信息

标题：Optimization of Rao-Blackwellized Particle Filter in Activity Pedestrian Simultaneously Localization and Mapping (SLAM): An Initial Proposal
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作者：Wan Mohd Yaakob Wan Bejuri ; Mohd Murtadha Mohamad ; Raja Zahilah Raja 等
期刊名称：International Journal of Security and Its Applications
印刷版ISSN：1738-9976
出版年度：2015
卷号：9
期号：11
页码：377-390
DOI：10.14257/ijsia.2015.9.11.35
出版社：SERSC
摘要：When Global Positioning Systems are obstructed, standalone pedestrian tracking can be very daunting. Users in such obstructed environments (especially in home environments) will find it difficult to perform on-site navigation. It is important to create a standalone pedestrian tracking system that provides better location determination services with less computational complexity and deployment cost. One promising way to implement this service is through the use of Inertial Measurement Unit (IMU) sensors. This tracking method provides the pinpointing of standalone tracking information but is handicapped by missing stance phase during pedestrian walking activities. A new pedestrian stance detection using simultaneously localization and mapping (SLAM) will be designed in this paper with a focus on robust indoor positioning systems. We will present our preliminary results to illustrate the performance of the system for an indoor environment set-up at the end of this paper
关键词：Simultaneously Localization and Mapping; Global Positioning System; ; Inertial Measurement Unit; Wi-Fi