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This paper evaluates a previously presented method for indoor pedestrian tracking using inertial sensing and a laser scanner (Light Detection and Ranging LIDAR). The zero velocity updating technique , which is used to enhance the performances of an inertial sensing sensor mounted on the foot, cannot observe heading, resulting in a horizontal position drift. A LIDAR mounted on the head is used as a complementary technique to correct heading. The well known Iterative Closest Point (ICP) algorithm  is adapted to treat captured laser scans at given instances that we call middle of foot stance phases. The detection process of those instances is presented, which is followed by a LIDAR-inertial coupling: the corrected position delivered by the ICP algorithm is forwarded as a position fix to the extended Kalman filter, treating the inertial sensor data on the foot, and thus compensates its drift. After presenting the tracking algorithm and the system description, a visual and numerical evaluation is carried out to assess the presented tracking system with regard to stability and accuracy.