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*. *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.