ABSTRACT
For pedestrian or wheelchair navigation, availability and accuracy of GPS signals may not be good enough for localization of pedestrians and wheelchair users on sidewalks due to the presence of high-rise buildings in urban areas. To overcome these shortcomings of GPS, in this chapter multisensor map matching is discussed. To that end, an algorithm that integrates accelerometer, compass, and vision data was developed to fill in signal gaps in GPS positions. Experiments were conducted to evaluate the developed algorithm using real field test data (GPS coordinates and other sensors data). The experimental results show that the developed algorithms can provide high-quality and uninterrupted localization estimation in pedestrian and wheelchair navigation services. The algorithm is applicable to pedestrian and wheelchair navigation applications requiring seamless localizations.
