Personal Positioning based on Walking Locomotion Analysis with Self-Contained Sensors and a Wearable Camera

  • Authors:
  • Masakatsu Kourogi;Takeshi Kurata

  • Affiliations:
  • -;-

  • Venue:
  • ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
  • Year:
  • 2003

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Abstract

In this paper, we propose a method of personalpositioning for a wearable Augmented Reality (AR)system that allows a user to freely move around indoorsand outdoors.The user is equipped with self-containedsensors, a wearable camera, an inertial headtracker and display.The method is based on sensorfusion of estimates for relative displacement causedby human walking locomotion and estimates for absoluteposition and orientation within a Kalman filteringframework.The former is based on intensive analysisof human walking behavior using self-containedsensors.The latter is based on image matching ofvideo frames from a wearable camera with an imagedatabase that was prepared beforehand.