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Section 4: Pedestrian Tracking

 

Indoor Segway Tracking

 
Heuristics-enhanced Odometry (HEO) eliminates odometry heading errors when used indoors, in structured environments.
Features:

Does not require any sensors other than wheel encoders for odometry.

Does not require beacons or any other external reference.

Works in real time, requires only 20-30 lines of C code.

Provides near-zero heading errors in drives of unlimited duration and distance*.

Provides position error <1% of distance traveled*.
Notes:

*These specs apply only to purposeful driving from A to B inside buildings. Prolonged activities like turning in circles or playing Segway Polo will cause large odometry errors.

(a)

(b)
15-minute Segway ride with a total travel distance of 1,800 m (1.12 miles).
(a) With odometry only, the average position error was 16.3 m. (b) With HEO, the average position error was 1.0 m.

For detailed experimental results, click here.