Fusion of visual odometry and inertial navigation system on a smartphone

What about people in pedestrian navigation?

“…tunnels, indoors), additional technologies are combined with GPS to provide more accurate locations. For example, recent research studies include the Global Navigation Satellite System (GNSS) (64), Dead Reckoning (65,66), GPS/GLONASS/QZSS (67), 3D Map Matching (66), visual gyroscope and odometer (68,69), Inertial Measurement Unit (70−72), Wi-Fi (73), and wireless sensor networks (74). Most of these positioning technologies for navigation applications are only location oriented to provide location information for pedestrians.…”

Learning Human Gait

“…In general, pnss using imus are categorized based on the sensor placement. Hand-held [61,92,94,102], foot-mounted [13,63], and waist-mounted [5,58] are the most popular categories that have been considered in the literature. While assuming sensors rigidly attached to different parts of the body relaxes some existing challenges by making the signal pattern more predictable, real-world applications of such systems are extremely limited.…”

“…For instance, one assumption is that the device is rigidity attached to a foot [13,31,63]. Other assumptions are that the imu is fixed on the waist instead of the foot [5,58], located in the front pocket [89], carried horizontally in hand [35], or carried in hand not necessarily horizontally [61,92,94,102]. The measured accelerometer and gyroscope magnitudes are considered for classifying four different smartphone modes in [55] and the 86% classification accuracy is reported.…”

Parameter Estimation for Mobile Positioning Applications

“…pnss can be generally classified based on the location of the installed sensors. The most popular classes are waist-mounted [4,56], foot-mounted [60,11] and hand-held [58,83,85,94] types. Besides the large class of imu-based systems, there are also other approaches that use other sensors such as electronic pedometers [42].…”

“…Other assumptions on the device mode include that the imu is fixed on the waist rather than the foot [4,56], located in the front pocket [79], carried horizontally in hand [32] or carried in hand not necessarily horizontally [58,83,85,94].…”