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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