IndoorGuide — A multi sensor pedestrian navigation system for precise and robust indoor localization

In this publication, we will demonstrate a Multi Sensor Pedestrian Navigation System (MSPNS) called IndoorGuide for precise and robust indoor localization. The robustness and accuracy of our approach can be attributed to the data fusion strategy using diverse redundant measurement information. In this context, corrupted magnetometer or barometer measurements can be excluded by relative position and attitude estimations from the stereoscopic camera system or the rotating laser scanner. Moreover, the huge drift of MEMS based IMUs can be reduced with the relative pose estimations and step length estimation model for the torso unit. A key aspect for the presented navigation system is to operate in previously unknown buildings under challenging situations. Finally, the presented indoor navigation system fulfils the requirement to be independent from the infrastructure of a building.