An Outdoor Pedestrian Localization Scheme Fusing PDR and VPR

Abstract

With the popularity of phones, the demand for pedestrian location-based services has increased significantly. PDR (pedestrian dead reckoning algorithm) can provide pedestrians with real-time and continuous localization services in the outdoor environment. However, due to the accuracy of the built-in inertial sensor of the mobile phone collecting data, there is heading drift in PDR resulting in localization error. The localization method based on VPR (visual place recognition) can provide the accurate position of a single point. The VPR based on the lightweight model only generates a low amount of calculation. We propose an outdoor localization scheme fusing PDR and VPR to provide continuous localization service for outdoor pedestrian localization. The experiment results show that compared with the PDR algorithm, the ARMSE of the fusion localization scheme is reduced by 40% to 60%, and the final start-to-end error is reduced by 31.9 m. The fusion scheme can provide an accurate and continuous localization service.