3D ActionSLAM: wearable person tracking in multi-floor environments

Hardegger, Michael, Roggen, Daniel and Gerhard, Tröster (2014) 3D ActionSLAM: wearable person tracking in multi-floor environments. Personal and Ubiquitous Computing, 19. pp. 123-141. ISSN 1617-4909

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Abstract

We present 3D ActionSLAM, a stand-alone wearable system that can track people in previously unknown multi-floor environments with sub-room accuracy. ActionSLAM stands for action-based simultaneous localization and mapping: It fuses dead reckoning data from a foot-mounted inertial measurement unit with the recognition of location-related actions to build and update a local landmark map. Simultaneously, this map compensates for position drift errors that accumulate in open-loop tracking by means of a particle filter. To evaluate the system performance, we analyzed 23 tracks with a total walked distance of 6,489 m in buildings with up to three floors. The algorithm robustly (93 % of runs converged) mapped the areas with a mean landmark positioning error of 0.59 m. As ActionSLAM is fully stand-alone and not dependent on external infrastructure, it is well suited for patient tracking in remote health care applications. The algorithm is computationally light-weight and runs in realtime on a Samsung Galaxy S4, enabling immediate location-aware feedback. Finally, we propose visualization techniques to facilitate the interpretation of tracking data acquired with 3D ActionSLAM.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Subjects: T Technology
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics > TK7885 Computer engineering. Computer hardware
Depositing User: Daniel Roggen
Date Deposited: 04 Dec 2015 12:50
Last Modified: 08 Mar 2017 05:48
URI: http://sro.sussex.ac.uk/id/eprint/58657

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