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Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation
Joint Authors
Kaiser, Susanna
Garcia Puyol, Maria
Robertson, Patrick
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-10
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Telecommunications Engineering
Abstract EN
Indoor navigation and mapping have recently become an important field of interest for researchers because global navigation satellite systems (GNSS) are very often unavailable inside buildings.
FootSLAM, a SLAM (Simultaneous Localization and Mapping) algorithm for pedestrians based on step measurements, addresses the indoor mapping and positioning problem and can provide accurate positioning in many structured indoor environments.
In this paper, we investigate how to compare FootSLAM maps via two entropy metrics.
Since collaborative FootSLAM requires the alignment and combination of several individual FootSLAM maps, we also investigate measures that help to align maps that partially overlap.
We distinguish between the map entropy conditioned on the sequence of pedestrian’s poses, which is a measure of the uncertainty of the estimated map, and the entropy rate of the pedestrian’s steps conditioned on the history of poses and conditioned on the estimated map.
Because FootSLAM maps are built on a hexagon grid, the entropy and relative entropy metrics are derived for the special case of hexagonal transition maps.
The entropy gives us a new insight on the performance of FootSLAM’s map estimation process.
American Psychological Association (APA)
Kaiser, Susanna& Garcia Puyol, Maria& Robertson, Patrick. 2016. Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation. Mobile Information Systems،Vol. 2016, no. 2016, pp.1-15.
https://search.emarefa.net/detail/BIM-1111666
Modern Language Association (MLA)
Kaiser, Susanna…[et al.]. Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation. Mobile Information Systems No. 2016 (2016), pp.1-15.
https://search.emarefa.net/detail/BIM-1111666
American Medical Association (AMA)
Kaiser, Susanna& Garcia Puyol, Maria& Robertson, Patrick. Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation. Mobile Information Systems. 2016. Vol. 2016, no. 2016, pp.1-15.
https://search.emarefa.net/detail/BIM-1111666
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1111666