| （英） |
The pedestrian dead reckoning (PDR), which is one of the solutions for extending the positioning services, estimates indoor personal positions by using self-contained smartphone sensors. In this paper, we propose a new location estimation method that combines self-contained sensors and camera to recognize the natural motion in walking. Our PDR system classifies pedestrian walking states into sideways walking, gaze walking, and left and right twist curves with tracking trajectory of the vanishing point estimated from the feature points on the camera images. For example, the rotation in the walking direction before and after the sideways walking period is canceled, and it is forced to the correct walking direction. As a result, the proposed method with multiple sensors and camera can estimate directions and positions more precisely than those with multiple sensors only. |