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Slides



(If you have problems viewing them inline, click on the title to go to slideshare.)

Simultaneous Localization and Mapping for Pedestrians using only Foot-Mounted Inertial Sensors

 

Simultaneous Localization and Mapping for Pedestrians using only Foot-Mounted Inertial Sensors from guest5fe3bb
 
Improving Simultaneous Localization and Mapping for Pedestrian Navigation and Automatic Mapping of Buildings by using Online Human-Based Feature Labeling
 
 

Improving Simultaneous Localization and Mapping for Pedestrian Navigation and Automatic Mapping of Buildings by using Online Human-Based Feature Labeling from patrickrobertson
 
Ion Feet slam 2011 v4
 

Ion feet slam 2011 v4 from patrickrobertson
WiSlam presentation
 

WiSlam presentation from lbruno236
 
Animated powerpoint slides showing odometry error and coordinate systems - modified and impoved w.r.t. ION GNSS 2009 and SLAM Dance.
 
 

Selected Slides on FootSLAM / PlaceSLAM / WiSLAM (click on image):

The result of processing raw pedestrian step measurements from a NavShoe (top left) to a FootSLAM hexagon map (bottom right).
zum Bild The result of processing raw pedestrian step measurements from a NavShoe (top left) to a FootSLAM hexagon map (bottom right).
The Dynamic Bayesian Network for FootSLAM used in the formal derivation.
zum Bild The Dynamic Bayesian Network for FootSLAM used in the formal derivation.
Relative positioning accuracy indoors at two reference points in the corridor.
zum Bild Relative positioning accuracy indoors at two reference points in the corridor.
Performance for the outdoor-indoor-outdoor scenario where GPS was used outdoors.
zum Bild Performance for the outdoor-indoor-outdoor scenario where GPS was used outdoors.
PlaceSLAM and an example of a sequence of placestamps with different levels of association.
zum Bild PlaceSLAM and an example of a sequence of placestamps with different levels of association.
The Dynamic Bayesian Network for FootSLAM combined with PlaceSLAM.
zum Bild The Dynamic Bayesian Network for FootSLAM combined with PlaceSLAM.
Absolute positioning accuracy indoors for outdoor/indoor scenario.
zum Bild Absolute positioning accuracy indoors for outdoor/indoor scenario.
Example of a combined FootSLAM and PlaceSLAM map.
zum Bild Example of a combined FootSLAM and PlaceSLAM map.
Principle of WiSLAM: With sufficient motion of the receiver, the location (and TX power) of an Access Points (AP) become(s) observable.
zum Bild Principle of WiSLAM: With sufficient motion of the receiver, the location (and TX power) of an Access Points (AP) become(s) observable.
Dynamic Bayesian Network (DBN) for FootSLAM combined with WiSLAM.
zum Bild Dynamic Bayesian Network (DBN) for FootSLAM combined with WiSLAM.
Result of mapping with known pedestrian location with real data.
zum Bild Result of mapping with known pedestrian location with real data.
Result of WiSLAM (and FootSLAM) with real data.
zum Bild Result of WiSLAM (and FootSLAM) with real data.

 
Contact
Dr.-Ing. Susanna Kaiser
German Aerospace Center
Institute of Communications and Navigation, Communications Systems
Oberpfaffenhofen-Wessling
Tel.: +49 8153 28-2862
Fax: +49 8153 28-1871

Topics Pedestrian Indoor Navigation
FootSLAM, PocketSLAM and Extensions
Mobility Models
Sensor Fusion for Indoor Navigation
Reference Data Sets for Multisensor Pedestrian Navigation
Human Activity Recognition with Inertial Sensors
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