A Comparison Between Uwb and Laser-Based Pedestrian Tracking

Abstract

Abstract. Despite the availability of GNSS on consumer devices enabled personal navigation for most of the World population in most of the outdoor conditions, the problem of precise pedestrian positioning is still quite challenging when indoors or, more in general, in GNSS-challenging working conditions. Furthermore, the covid-19 pandemic also raised of pedestrian tracking, in any environment, but in particular indoors, where GNSS typically does not ensure sufficient accuracy for checking people distance. Motivated by the mentioned needs, this paper investigates the potential of UWB and LiDAR for pedestrian positioning and tracking. The two methods are compared in an outdoor case study, nevertheless, both are usable indoors as well. The obtained results show that the positioning performance of the LiDAR-based approach overcomes the UWB one, when the pedestrians are not obstructed by other objects in the LiDAR view. Nevertheless, the presence of obstructions causes gaps in the LiDAR-based tracking: instead, the combination of LiDAR and UWB can be used in order to reduce outages in the LiDAR-based solution, whereas the latter, when available, usually improves the UWB-based results.

Dataset for Positioning and Tracking Cars and Pedestrians From Uav Imagery and Static Lidar

“…Vision-based positioning and tracking techniques are quite popular, in particular for what concerns visual simultaneous localization and mapping (SLAM) techniques (Mur-Artal et al, 2015, Leonard and Durrant-Whyte, 1991, Strasdat et al, 2012, Whelan et al, 2016. Furthermore, LiDAR can also be exploited in order to both determine the ego-motion of a platform Singh, 2014, Zhang andSingh, 2017) and to assess movement of other platforms and persons (Masiero et al, 2022).…”