Latest updates
September 2013 Multistory FootSLAM now available here.
April 2012 New FootSLAM videos showing heading rate bias estimation here.
March 2012 FootSLAM is now realtime see here. WiSLAM added. FootSLAM Gallery started.
October 2011 Cooperative FootSLAM = FeetSLAM videos are now available here.
October 2010 - April 2012 Some notes, thoughts, and details concerning the implementation and behaviour of FootSLAM are being collected here. Update Feb. 2011: FootSLAM exposes error in our building's reference layout.
September 2010 The new high precision datasets and videos on human odometry for our IPIN paper are now available here.
We also have a new page with videos, reference data sets and publications on human activity recognition here.
April 2010 New movies, slides and papers for FootSLAM with improved ZUPT aw well as PlaceSLAM are now available here.
September 2010 Movies, slides and papers for FootSLAM are available here.
May 2009 The reference data sets for multisensor pedestrian navigation that are introduced in our paper:
M. Angermann, A. Friese, M. Khider, B. Krach, K. Krack, P. Robertson A Reference Measurement Data Set for Multisensor Pedestrian Navigation with Accurate Ground Truth [PDF] European Navigation Conference (ENC-GNSS 2009), Naples, Italy, May 2009,
are now available at our download page.
General information
Positioning in buildings and other environments where GNSS reception is difficult will require a combination of sensors and other information such as building plans in order to function accurately. We are pursuing sensor fusion approaches that combine GNSS, foot mounted inertial sensors electronic compasses, baro-altimeters, maps and active RFID tags. A particularly powerful combination is INS step measurement in conjunction with maps which can converge to the correct position after less than a minute of motion. We have developed a two-layer sensor fusion architecture that operates with a Kalman filter where possible, and fuses other sensors and maps at a higher-level, lower rate, particle filter. In buildings, a few dispersed RFID tags or even moderately GNSS reception can significantly aid the overall positioning.
Videos and other media
Papers on Pedestrian Navigation with Multisensor Fusion.
FootSLAM and PlaceSLAM papers here. Papers on mobility models here. Papers on Reference Data Sets for Multisensor Pedestrian Navigation here.
You can follow the ELIB link to our internal electronic library where you can download the paper as PDF and retrieve citation information, e.g. for BibTeX. Additional papers are available on our pages on related topics (links at the top left of this page).
Mohammed Khider, Thomas Jost, Elena Abdo Sánchez, Patrick Robertson and Michael Angermann Bayesian Multi-sensor Navigation Incorporating Pseudo-ranges and Multipath Model, [ELIB] Proceedings of the IEEE/ION PLANS 2010, Indian Wells/Palm Springs, USA, May 2010
Thomas Jost, Mohammed Khider, Elena Abdo Sánchez, Characterisation and Modelling of the Indoor Pseudorange Error using Low Cost Receivers, [ELIB] Proceedings of the ION ITM 2010. San Diego, USA, January 2010
Mohammed Khider, Susanna Kaiser, Patrick Robertson, Michael Angermann, Maps And Floor Plans Enhanced 3D Movement Model For Pedestrian Navigation, [ELIB] Proceedings of the ION GNSS 2009, Georgia, USA, September 2009
Mohammed Khider, Susanna Kaiser, Patrick Robertson, Michael Angermann, A Three Dimensional Movement Model For Pedestrian Navigation, [ELIB] Proceedings of the European Navigation Conference - Global Navigation Satellite Systems (ENC-GNSS) 2009, Napoli, Italy, May 2009
Mohammed Khider, Susanna Kaiser, Patrick Robertson, Michael Angermann, A Novel Movement Model for Pedestrians Suitable for Personal Navigation, [ELIB] Proceedings of the ION NTM 2008, San Diego, USA, Jan 2008
B. Krach, P. Robertson Cascaded Estimation Architecture for Integration of Foot-Mounted Inertial Sensors [ELIB] Proc. 2008 IEEE/ION Position Location and Navigation Symposium (IEEE/ION PLANS 2008), Monterey, California, USA, Mai 2008
M. Khider, S. Kaiser, P. Robertson, M. Angermann The Effect of Maps-Enhanced Novel Movement Models on Pedestrian Navigation Performance [ELIB] Proc. 12th European Navigation Conference (ENC GNSS 2008), Toulouse, Frankreich, Apr. 2008
B. Krach, P. Robertson Integration of Foot-Mounted Inertial Sensors into a Bayesian Location Estimation Framework [ELIB] Proc. 5th Workshop on Positioning, Navigation and Communication 2008 (WPNC 2008), Hannover, Germany, Mar. 2008
K. Wendlandt, P. Robertson, M. Khider, M. Angermann, K. Sukchaya Demonstration of a Realtime Active-Tag RFID, Java Based Indoor Localization System using Particle Filtering [ELIB] Adjunct Proc. 9th International Conference on Ubiquitous Computing (UBICOMP 2007), Innsbruck, Austria, Sep. 2007
K. Wendlandt, M. Khider, M. Angermann, P. Robertson Continuous location and direction estimation with multiple sensors using particle filtering [ELIB] Proc. 2006 International Conference in Multisensor Fusion and Integration for Intelligent Systems (MFI 2006), Heidelberg, Germany, Sep. 2006
K. Wendlandt, P. Robertson, M. Berbig Indoor Localization with Probability Density Functionsd based on Bluetooth [ELIB] Proc. 2005 Symposium on Personal Indoor and Mobile Radio Communications (PIMRC 2005), Berlin, Germany, Sep. 2005
M. Angermann, J. Kammann, P. Robertson, A. Steingass, T. Strang Software Representation for Heterogeneous Data Sources Within A Probabilistic Framework [ELIB] Proc. 2001 International Symposium on Location Based Services for Cellular Users (LOCELLUS 2001), Munich, Germany, Feb. 2001
Mohammed Khider Implementation of a Simulator/Demonstrator for the SoftLocation Concept using Bayesian Filters, [ELIB] Masterarbeit, S. 166, Universität Ulm (Ingenieurwissenschaften und Informatik) , Ulm, Germany, 2005