Sub-meter indoor localization in unmodified environments with inexpensive sensors

M Quigley, D Stavens, A Coates, S Thrun
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The interpretation of uncertain sensor streams for localization is usually considered in the context of a robot. Increasingly, however, portable consumer electronic devices, such as smartphones, are equipped with sensors including WiFi radios, cameras, and inertial measurement units (IMUs). Many tasks typically associated with robots, such as localization, would be valuable to perform on such devices. In this paper, we present an approach for indoor localization exclusively using the low-cost
more » ... nsors typically found on smartphones. Environment modification is not needed. We rigorously evaluate our method using ground truth acquired using a laser range scanner. Our evaluation includes overall accuracy and a comparison of the contribution of individual sensors. We find experimentally that fusion of multiple sensor modalities is necessary for optimal performance and demonstrate sub-meter localization accuracy.
doi:10.1109/iros.2010.5651783 dblp:conf/iros/QuigleySCT10 fatcat:5l5eksfkufamrej5mfyklbizhm