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Session A1: Cutting-Edge Inertial-Based Pedestrian Localization

NEVERLOST: Navigation Environment Merging Virtuality, Ecotone, and Reality for Localization Of SubjecTs
Eudald Sangenis and Andrei M. Shkel, MicroSystems Laboratory, University of California, Irvine
Location: Grand Ballroom ABC
Date/Time: Tuesday, Apr. 29, 11:48 a.m.

This paper presents a navigation environment, NEVERLOST, specifically designed for firefighters and first responders to localize and navigate in indoor environments. Challenging indoor conditions demand safe, accurate, and high-precision navigation solutions. NEVERLOST addresses two primary technical challenges: 1) real-time position tracking using foot-mounted IMU, and 2) optimal route planning to targets. The framework addresses these challenges through a dual-interface platform, that leverages Augmented Reality (AR) with a Magic Leap 2 (ML2) to overlay navigational information onto the real-world view of firefighters. The dual-interface platform facilitates coordination between firefighters and fire commanders: commanders handle strategic planning, including target selection and mission oversight on a digital map, while firefighters navigate indoor environments, and communicate their indoor position in real-time. An experimental evaluation was conducted in a multi-floor indoor setting demonstrating a navigation error of 0.74 meters over a 141.84-meter trajectory.
Index Terms—Foot-mounted IMU, Inertial Navigation, Augmented Reality, A* Algorithm.

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