FootSLAM video showing the odometry and FootSLAM map over a walk that covers a relatively large area
To demonstrate the performance of FootSLAM over a larger area, a pedestrian undertook a walk that lasted over 13 minutes using an MTx - Xsens IMU sensor attached to her shoe to measure her steps. FootSLAM has been specifically developed to map indoor environments. Nevertheless, this walk was undertaken outdoors - but without satellite navigation - covering a relatively large area (ca. 100 m by 100 m) to show the behaviour of FootSLAM during the exploration phase.
This video relates to the experiment reported in Complexity-reduced FootSLAM for indoor pedestrian navigation published at IPIN 2012:
A longer version of this paper has been submitted to the Journal of Location-based Services; IPIN 2012 Special Issue.
FootSLAM video showing raw odometry, particle distribution and heading rate bias posterior
This video shows the raw human odometry, the map, the particle distribution and the heading rate bias posterior (histogram on top left). The blue dots on the x,y particle display are the mean position computed at that time, and it is frozen on the display. We can observe to which extent the mean estimated position - conditioned only on measurements available at that time - deviates from what the eye can recognize as the "true" track (e.g. when compared to the map on the bottom left). The histogram shows the estimate of the heading rate bias (HRB) which begins as a wide (prior) distribution and then converges during loop closures. We can see the effect of this HRB on the raw odometry which shows the typical spiralling behaviour (further explanation and more videos from the MIT experiment on this page).
FeetSLAM Movies (shown at ION GNSS 2011, September 2011).
These videos include a comparison with the true layout. The first videos also shows a quantitative evaluation of the ratio of walls or funiture violated by our estimated map. They were produced as part of Maria Garcia Puyol's Master thesis on FeetSLAM performed at DLR and supervised by the University of Malaga, Spain.
FootSLAM Movies with an improved ZUPT
These videos now include a comparison with the true layout and some background data on the experiment and processing.
FootSLAM with PlaceSLAM Movies
Original FootSLAM Movies (2009; old ZUPT)