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Capturing walking trajectories is useful for motion planning and various location-based services. Traditionally, it is a challenging task because it is expensive to install infrastructures, especially in an outdoor setting. As another choice, the reconstructed walking trajectories suffer from the drifting problem from captured inertia data. In this work, we study the biped walking motion and propose a method to recover walking trajectories by introducing local measurements between the feet todoi:10.1155/2020/8825647 fatcat:wnswy4hr5baplbi2dc7okjqmme