SLAM-ING: A Wearable SLAM Inertial NaviGation System
Proceedings of IEEE Sensors, ISSN: 2168-9229, Vol: 2022-October, Page: 01-04
2022
- 2Citations
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Conference Paper Description
Indoor Location-Based Service (ILBS) shows great research promotions with wide applications e.g., indoor firefighting and cave exploration. Foot-mounted Inertial Navigation System (INS), one approach of ILBS, lacks a reference map of the environment, resulting in poor trajectory recognition. This paper introduces SLAMING, a novel wearable type SLAM via a Zero Angular rate Update (ZARU) aided Inertial NaviGation. SLAMING proposes a gravity center calculation method, merging the dual (left and right) foot trajectories. Moreover, the proposed polar projection and occupancy grid map method determines the map boundary, enabling the fusion of the trajectory and ultrasound range. The mapping results of SLAMING are demonstrated with the ground truth. The location performance is validated using a self-created database, the results of which indicate lower horizontal and spherical error compared with the traditional INS in all scenarios.
Bibliographic Details
Institute of Electrical and Electronics Engineers (IEEE)
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