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Bayesian Approach for Indoor Pedestrian Localisation

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Stable Directed Belief Propagation in Gaussian DAGs using the auxiliary variable trick

We consider approximate inference in a class of switching linear Gaussian State Space models which includes the switching Kalman Filter and the more general case of switch transitions dependent on the continuous hidden state. The method is a novel form of ...

IDIAP2005

Indoor Navigation Enhanced by Map-Matching

Pierre-Yves Gilliéron, Bertrand Merminod

In this paper, we present the development and the implementation of algorithms to access map databases by a user equipped with a pedestrian navigation system. ...

2005

Construction and comparison of approximations for switching linear gaussian state space models

IDIAP2005

Indoor Navigation Performance Analysis

Pierre-Yves Gilliéron, Bertrand Merminod

INDOOR NAVIGATION PERFORMANCE ANALYSIS 1. Context of indoor navigation The objective of this research is to define and to implement a dedicated data model for indoor applications. Based on this specific model, route guidance and navigation algorithms ca ...

enc gnss 20042004

Indoor Navigation Performance Analysis

Pierre-Yves Gilliéron, Bertrand Merminod

Context of indoor navigation The objective of this research is to define and to implement a dedicated data model for indoor applications. Based on this specific model, route guidance and navigation algorithms can be integrated in order to develop applic ...

2004

Inertial and 3D-odometry fusion in rough terrain Towards real 3D navigation

Roland Siegwart, Pierre Lamon

Many algorithms related to localization need good pose prediction in order to produce accurate results. This is especially the case for data association algorithms, where false feature matches can lead to the localization system failure. In rough terrain, ...

2004

Pedestrian navigation method and apparatus operative in a dead reckoning mode

Quentin Ladetto

A displacement of a pedestrian is determined from his or her accelerations by detecting accelerations which is substantially non vertical, determining a characteristic feature in the detected accelerations correlated with a step frequency, determining the ...

2004

Photogrammetry-derived Navigation Parameters for INS Kalman Filter Updates

Jan Skaloud, Bertrand Merminod, Fadi Atef Bayoud

In this paper, a GPS-independent mobile navigation and mapping system is introduced. This system employs the photogrammetric intersection to determine the coordinates of the surrounding objects and then it uses these newly known objects to compute its own ...

2004

Acoustic node calibration using helicopter sounds and Monte Carlo markov chain methods

Volkan Cevher

A Monte-Carlo method is used to calibrate a randomly placed sensor node using helicopter sounds. The calibration is based on using the GPS information from the helicopter and the estimated DOA's at the node. The related Cramer-Rao lower bound is derived an ...

2004

GPS/INS integration for pedestrian navigation

This research has been sponsored by the Centre Suisse d'Electronique et de Microtechnique (CSEM) in Neuchâtel, Switzerland. It introduces a system and the algorithms for Pedestrian Navigation using a combination of sensors. The main objective is to localis ...

EPFL2003