SLAM-ING: A Wearable SLAM Inertial NaviGation System

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publication2022 IEEE Sensors, SENSORS 2022 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665484640
Publication statusPublished - Dec 2022
Event2022 IEEE Sensors Conference, SENSORS 2022 - Dallas, United States
Duration: 30 Oct 20222 Nov 2022

Publication series

NameProceedings of IEEE Sensors
ISSN (Print)1930-0395
ISSN (Electronic)2168-9229


Conference2022 IEEE Sensors Conference, SENSORS 2022
Country/TerritoryUnited States


  • Inertial Navigation System
  • Occupancy Grid Map
  • SLAM
  • Wearable Sensing

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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