Identification and Position Correction between Pedestrian Observed RGB-D Camera and PDR User for Pedestrian Position Tracking in an Indoor Environment

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  • 屋内環境における人の位置計測に向けたRGB-Dカメラに映るPDR利用者の同定と位置補正

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An Indoor pedestrian position estimation method is one of the important basic techniques to make novel human-centered service. In this paper, we propose an estimation method of pedestrian position and orientation using RGB-D camera and Pedestrian Dead-Reckoning (PDR) device in the indoor environment. Firstly, the PDR users are identified using walking cycle and Yaw angle calculated by position trajectory and acceleration. Secondly, the pedestrian trajectory calculated by PDR is corrected using the positional information obtained by RGB-D camera. We performed experiments on platoon walk and free walk using three cameras and five PDR devices. Resultantly, validity of the proposed method is shown experimentally.

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