A Centralized Approach to Pedestrian Localization Using Multiple Odometry Sources

J. Daniel Pierce, David M. Bevly

Peer Reviewed

Abstract:	A method is presented for pedestrian localization by use of stereo visual odometry and a foot-mounted inertial navigation system (INS). As opposed to prior approaches for fusing such systems, a centralized model combines the state vector for both visual odometry and INS mechanization using an Extended Kalman Filter (EKF) framework. Correlations are maintained in the centralized filter by pseudo-measurements relating the position and heading of the two systems. Gait monitoring is performed in order to detect vertical leg conditions in which the two systems can be related by a baseline separation. In addition, zero velocity updates are applied to foot velocity states to estimate INS errors. External measurements are applied through a standard EKF update, and their effect on filter performance is shown. Results are presented using both simulated and real data.
Published in:	Proceedings of the 2015 International Technical Meeting of The Institute of Navigation January 26 - 28, 2015 Laguna Cliffs Marriott Dana Point, California
Pages:	123 - 128
Cite this article:	Pierce, J. Daniel, Bevly, David M., "A Centralized Approach to Pedestrian Localization Using Multiple Odometry Sources," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 123-128.
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