3D ActionSLAM: Wearable person tracking in multi-floor environments
OPEN ACCESS
Loading...
Author / Producer
Date
2015-01
Publication Type
Journal Article
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
Abstract
We present 3D ActionSLAM, a stand-alone wearable system that can track people in previously unknown multi-floor environments with sub-room accuracy. ActionSLAM stands for action-based simultaneous localization and mapping: It fuses dead reckoning data from a foot-mounted inertial measurement unit with the recognition of location-related actions to build and update a local landmark map. Simultaneously, this map compensates for position drift errors that accumulate in open-loop tracking by means of a particle filter. To evaluate the system performance, we analyzed 23 tracks with a total walked distance of 6,489 m in buildings with up to three floors. The algorithm robustly (93 % of runs converged) mapped the areas with a mean landmark positioning error of 0.59 m. As ActionSLAM is fully stand-alone and not dependent on external infrastructure, it is well suited for patient tracking in remote health care applications. The algorithm is computationally light-weight and runs in real-time on a Samsung Galaxy S4, enabling immediate location-aware feedback. Finally, we propose visualization techniques to facilitate the interpretation of tracking data acquired with 3D ActionSLAM.
Permanent link
Publication status
published
External links
Editor
Book title
Journal / series
Volume
19 (1)
Pages / Article No.
123 - 141
Publisher
Springer
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Simultaneous localization and mapping; Indoor tracking; Pedestrian dead reckoning; Location- aware computing; Wearable systems
Organisational unit
03388 - Tröster, Gerhard (emeritus)
Notes
It was possible to publish this article open access thanks to a Swiss National Licence with the publisher.