Simultaneous indoor pedestrian localization and house mapping based on inertial measurement unit and bluetooth low-energy beacon data
Ceron JD, Kluge F, Küderle A, Eskofier B, López DM (2020)
Publication Type: Journal article
Publication year: 2020
Journal
Book Volume: 20
Pages Range: 1-21
Article Number: 4742
Journal Issue: 17
DOI: 10.3390/s20174742
Abstract
Indoor location estimation is crucial to provide context-based assistance in home environments. In this study, a method for simultaneous indoor pedestrian localization and house mapping is proposed and evaluated. The method fuses a person’s movement data from an Inertial Measurement Unit (IMU) with proximity and activity-related data from Bluetooth Low-Energy (BLE) beacons deployed in the indoor environment. The person’s and beacons’ localization is performed simultaneously using a combination of particle and Kalman Filters. We evaluated the method using data from eight participants who performed different activities in an indoor environment. As a result, the average participant’s localization error was 1.05 ± 0.44 m, and the average beacons’ localization error was 0.82 ± 0.24 m. The proposed method is able to construct a map of the indoor environment by localizing the BLE beacons and simultaneously locating the person. The results obtained demonstrate that the proposed method could point to a promising roadmap towards the development of simultaneous localization and home mapping system based only on one IMU and a few BLE beacons. To the best of our knowledge, this is the first method that includes the beacons’ data movement as activity-related events in a method for pedestrian Simultaneous Localization and Mapping (SLAM).
Authors with CRIS profile
Felix Kluge
Lehrstuhl für Informatik 14 (Machine Learning and Data Analytics)
Arne Küderle
Lehrstuhl für Informatik 14 (Machine Learning and Data Analytics)
Björn Eskofier
Lehrstuhl für Informatik 14 (Machine Learning and Data Analytics)
Additional Organisation(s)
Involved external institutions
Colombia (CO)How to cite
APA:
Ceron, J.D., Kluge, F., Küderle, A., Eskofier, B., & López, D.M. (2020). Simultaneous indoor pedestrian localization and house mapping based on inertial measurement unit and bluetooth low-energy beacon data. Sensors, 20(17), 1-21. https://dx.doi.org/10.3390/s20174742
MLA:
Ceron, Jesus D., et al. "Simultaneous indoor pedestrian localization and house mapping based on inertial measurement unit and bluetooth low-energy beacon data." Sensors 20.17 (2020): 1-21.
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