TY - GEN
T1 - SLAM-ING
T2 - 2022 IEEE Sensors Conference, SENSORS 2022
AU - Wu, Renjie
AU - Pike, Matthew
AU - Chai, Xiaoqing
AU - Lee, Boon Giin
AU - Wu, Xian
N1 - Funding Information:
This research was supported by the Zhejiang Provincial Natural Science Foundation of China under Grant No. LQ21F020024; This work is supported by Ningbo Science and Technology Bureau under Major ST Programme with project code 2021Z037; This work is supported by Ningbo Science and Technology Bureau under Commonweal Programme with project code 2021S140.
Publisher Copyright:
© 2022 IEEE.
PY - 2022/12
Y1 - 2022/12
N2 - Indoor Location-Based Service (ILBS) shows great research promotions with wide applications e.g., indoor firefighting and cave exploration. Foot-mounted Inertial Navigation System (INS), one approach of ILBS, lacks a reference map of the environment, resulting in poor trajectory recognition. This paper introduces SLAMING, a novel wearable type SLAM via a Zero Angular rate Update (ZARU) aided Inertial NaviGation. SLAMING proposes a gravity center calculation method, merging the dual (left and right) foot trajectories. Moreover, the proposed polar projection and occupancy grid map method determines the map boundary, enabling the fusion of the trajectory and ultrasound range. The mapping results of SLAMING are demonstrated with the ground truth. The location performance is validated using a self-created database, the results of which indicate lower horizontal and spherical error compared with the traditional INS in all scenarios.
AB - Indoor Location-Based Service (ILBS) shows great research promotions with wide applications e.g., indoor firefighting and cave exploration. Foot-mounted Inertial Navigation System (INS), one approach of ILBS, lacks a reference map of the environment, resulting in poor trajectory recognition. This paper introduces SLAMING, a novel wearable type SLAM via a Zero Angular rate Update (ZARU) aided Inertial NaviGation. SLAMING proposes a gravity center calculation method, merging the dual (left and right) foot trajectories. Moreover, the proposed polar projection and occupancy grid map method determines the map boundary, enabling the fusion of the trajectory and ultrasound range. The mapping results of SLAMING are demonstrated with the ground truth. The location performance is validated using a self-created database, the results of which indicate lower horizontal and spherical error compared with the traditional INS in all scenarios.
KW - Inertial Navigation System
KW - Occupancy Grid Map
KW - SLAM
KW - Wearable Sensing
UR - http://www.scopus.com/inward/record.url?scp=85143784884&partnerID=8YFLogxK
U2 - 10.1109/SENSORS52175.2022.9967255
DO - 10.1109/SENSORS52175.2022.9967255
M3 - Conference contribution
AN - SCOPUS:85143784884
T3 - Proceedings of IEEE Sensors
BT - 2022 IEEE Sensors, SENSORS 2022 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 October 2022 through 2 November 2022
ER -