Simultaneous localization and mapping for pedestrians using only foot-mounted inertial sensors.
Patrick RobertsonMichael AngermannBernhard KrachPublished in: UbiComp (2009)
Keyphrases
- inertial sensors
- simultaneous localization and mapping
- extended kalman filter
- unscented kalman filter
- mobile robot
- sensor fusion
- monocular camera
- kalman filter
- dynamic environments
- vision system
- object detection
- position and orientation
- data association
- particle filter
- mobile robotics
- indoor environments
- motion tracking
- real environment
- visual odometry
- robot navigation
- motion sequences
- real robot
- kalman filtering
- multi sensor
- visual tracking
- real time
- autonomous robots
- path planning
- virtual environment