Solving Monocular Visual Odometry Scale Factor with Adaptive Step Length Estimates for Pedestrians Using Handheld Devices.

The urban environments represent challenging areas for handheld device pose estimation (i.e., 3D position and 3D orientation) in large displacements. It is even more challenging with low-cost sensors and computational resources that are available in pedestrian mobile devices (i.e., monocular camera and Inertial Measurement Unit). To address these challenges, we propose a continuous pose estimation based on monocular Visual Odometry. To solve the scale ambiguity and suppress the scale drift, an adaptive pedestrian step lengths estimation is used for the displacements on the horizontal plane. To complete the estimation, a handheld equipment height model, with respect to the Digital Terrain Model contained in Geographical Information Systems, is used for the displacement on the vertical axis. In addition, an accurate pose estimation based on the recognition of known objects is punctually used to correct the pose estimate and reset the monocular Visual Odometry. To validate the benefit of our framework, experimental data have been collected on a 0.7 km pedestrian path in an urban environment for various people. Thus, the proposed solution allows to achieve a positioning error of 1.6⁻7.5% of the walked distance, and confirms the benefit of the use of an adaptive step length compared to the use of a fixed-step length.

Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ)-based attitude estimation with smartphone sensors for indoor pedestrian navigation.

The dependence of proposed pedestrian navigation solutions on a dedicated infrastructure is a limiting factor to the deployment of location based services. Consequently self-contained Pedestrian Dead-Reckoning (PDR) approaches are gaining interest for autonomous navigation. Even if the quality of low cost inertial sensors and magnetometers has strongly improved, processing noisy sensor signals combined with high hand dynamics remains a challenge. Estimating accurate attitude angles for achieving long term positioning accuracy is targeted in this work. A new Magnetic, Acceleration fields and GYroscope Quaternion (MAGYQ)-based attitude angles estimation filter is proposed and demonstrated with handheld sensors. It benefits from a gyroscope signal modelling in the quaternion set and two new opportunistic updates: magnetic angular rate update (MARU) and acceleration gradient update (AGU). MAGYQ filter performances are assessed indoors, outdoors, with dynamic and static motion conditions. The heading error, using only the inertial solution, is found to be less than 10° after 1.5 km walking. The performance is also evaluated in the positioning domain with trajectories computed following a PDR strategy.

A method for calculating fall risk parameters from discrete stride time series regardless of sensor placement.

BACKGROUND: To complement traditional clinical fall risk assessments, research is oriented towards adding real-life gait-related fall risk parameters (FRP) using inertial sensors fixed to a specific body position. While fixing the sensor position can facilitate data processing, it can reduce user compliance. A newly proposed step detection method, Smartstep, has been proven to be robust against sensor position and real-life challenges. Moreover, FRP based on step variability calculated from stride times (Standard deviation (SD), Coefficient of Variance (Cov), fractal exponent, and sample entropy of stride duration) proved to be useful to prospectively predict the fall risk. RESEARCH QUESTIONS: To evaluate whether Smartstep is convenient for calculating FRP from different sensor placements. METHODS: 29 elderly performed a 6-minute walking test with IMU placed on the waist and the wrist. FRP were computed from step-time estimated from Smartstep and compared to those obtained from foot-mounted inertial sensors: precision and recall of the step detection, Root mean square error (RMSE) and Intraclass Correlation Coefficient (ICC) of stride durations, and limits of agreement of FRP. RESULTS: The step detection precision and recall were respectively 99.5% and 95.9% for the waist position, and 99.4% and 95.7% for the wrist position. The ICC and RMSE of stride duration were 0.91 and 54 ms respectively for both the waist and the hand position. The limits of agreement of Cov, SD, fractal exponent, and sample entropy of stride duration are respectively 2.15%, 25 ms, 0.3, 0.5 for the waist and 1.6%, 16 ms, 0.23, 0.4 for the hand. SIGNIFICANCE: Robust against the elderly's gait and different body locations, especially the wrist, this method can open doors toward ambulatory measurements of steps, and calculation of different discrete stride-related falling risk indicators.

Motion mode recognition and step detection algorithms for mobile phone users.

Microelectromechanical Systems (MEMS) technology is playing a key role in the design of the new generation of smartphones. Thanks to their reduced size, reduced power consumption, MEMS sensors can be embedded in above mobile devices for increasing their functionalities. However, MEMS cannot allow accurate autonomous location without external updates, e.g., from GPS signals, since their signals are degraded by various errors. When these sensors are fixed on the user's foot, the stance phases of the foot can easily be determined and periodic Zero velocity UPdaTes (ZUPTs) are performed to bound the position error. When the sensor is in the hand, the situation becomes much more complex. First of all, the hand motion can be decoupled from the general motion of the user. Second, the characteristics of the inertial signals can differ depending on the carrying modes. Therefore, algorithms for characterizing the gait cycle of a pedestrian using a handheld device have been developed. A classifier able to detect motion modes typical for mobile phone users has been designed and implemented. According to the detected motion mode, adaptive step detection algorithms are applied. Success of the step detection process is found to be higher than 97% in all motion modes.

Use of high sensitivity GNSS receiver Doppler measurements for indoor pedestrian dead reckoning.

Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes. In such DR systems, the primary error is often due to accumulated heading drifts. By tightly integrating global navigation satellite system (GNSS) Doppler measurements with DR, such accumulated heading errors can usually be accurately compensated. Under weak signal conditions, high sensitivity GNSS (HSGNSS) receivers with block processing techniques are often used, however, the Doppler quality of such receivers is relatively poor due to multipath, fading and signal attenuation. This often limits the benefits of integrating HSGNSS Doppler with DR. This paper investigates the benefits of using Doppler measurements from a novel direct vector HSGNSS receiver with pedestrian dead-reckoning (PDR) for indoor navigation. An indoor signal and multipath model is introduced which explains how conventional HSGNSS Doppler measurements are affected by indoor multipath. Velocity and Doppler estimated by using direct vector receivers are introduced and discussed. Real experimental data is processed and analyzed to assess the veracity of proposed method. It is shown when integrating HSGNSS Doppler with PDR algorithm, the proposed direct vector method are more helpful than conventional block processing method for the indoor environments considered herein.

Association of Prospective Falls in Older People With Ubiquitous Step-Based Fall Risk Parameters Calculated From Ambulatory Inertial Signals: Secondary Data Analysis.

Background: In recent years, researchers have been advocating for the integration of ambulatory gait monitoring as a complementary approach to traditional fall risk assessments. However, current research relies on dedicated inertial sensors that are fixed on a specific body part. This limitation impacts the acceptance and adoption of such devices. Objective: Our study objective is twofold: (1) to propose a set of step-based fall risk parameters that can be obtained independently of the sensor placement by using a ubiquitous step detection method and (2) to evaluate their association with prospective falls. Methods: A reanalysis was conducted on the 1-week ambulatory inertial data from the StandingTall study, which was originally described by Delbaere et al. The data were from 301 community-dwelling older people and contained fall occurrences over a 12-month follow-up period. Using the ubiquitous and robust step detection method Smartstep, which is agnostic to sensor placement, a range of step-based fall risk parameters can be calculated based on walking bouts of 200 steps. These parameters are known to describe different dimensions of gait (ie, variability, complexity, intensity, and quantity). First, the correlation between parameters was studied. Then, the number of parameters was reduced through stepwise backward elimination. Finally, the association of parameters with prospective falls was assessed through a negative binomial regression model using the area under the curve metric. Results: The built model had an area under the curve of 0.69, which is comparable to models exclusively built on fixed sensor placement. A higher fall risk was noted with higher gait variability (coefficient of variance of stride time), intensity (cadence), and quantity (number of steps) and lower gait complexity (sample entropy and fractal exponent). Conclusions: These findings highlight the potential of our method for comprehensive and accurate fall risk assessments, independent of sensor placement. This approach has promising implications for ambulatory gait monitoring and fall risk monitoring using consumer-grade devices.

Step length estimation using handheld inertial sensors.

In this paper a novel step length model using a handheld Micro Electrical Mechanical System (MEMS) is presented. It combines the user's step frequency and height with a set of three parameters for estimating step length. The model has been developed and trained using 12 different subjects: six men and six women. For reliable estimation of the step frequency with a handheld device, the frequency content of the handheld sensor's signal is extracted by applying the Short Time Fourier Transform (STFT) independently from the step detection process. The relationship between step and hand frequencies is analyzed for different hand's motions and sensor carrying modes. For this purpose, the frequency content of synchronized signals collected with two sensors placed in the hand and on the foot of a pedestrian has been extracted. Performance of the proposed step length model is assessed with several field tests involving 10 test subjects different from the above 12. The percentages of error over the travelled distance using universal parameters and a set of parameters calibrated for each subject are compared. The fitted solutions show an error between 2.5 and 5% of the travelled distance, which is comparable with that achieved by models proposed in the literature for body fixed sensors only.

Design and testing of a multi-sensor pedestrian location and navigation platform.

Navigation and location technologies are continually advancing, allowing ever higher accuracies and operation under ever more challenging conditions. The development of such technologies requires the rapid evaluation of a large number of sensors and related utilization strategies. The integration of Global Navigation Satellite Systems (GNSSs) such as the Global Positioning System (GPS) with accelerometers, gyros, barometers, magnetometers and other sensors is allowing for novel applications, but is hindered by the difficulties to test and compare integrated solutions using multiple sensor sets. In order to achieve compatibility and flexibility in terms of multiple sensors, an advanced adaptable platform is required. This paper describes the design and testing of the NavCube, a multi-sensor navigation, location and timing platform. The system provides a research tool for pedestrian navigation, location and body motion analysis in an unobtrusive form factor that enables in situ data collections with minimal gait and posture impact. Testing and examples of applications of the NavCube are provided.

Use of Earth's magnetic field for mitigating gyroscope errors regardless of magnetic perturbation.

Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth's magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth's magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF) based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF) based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment.

Dataset of the intermediate competition in challenge MALIN: Indoor-outdoor inertial navigation system data for pedestrian and vehicle with high accuracy references in a context of firefighter scenario.

This paper provides a multiple sensor dataset collected by the CyborgLOC team during the intermediate competition of the Challenge MALIN (MAîtrise de la localisation INdoor), which is a competition for indoor/outdoor real-time positioning. The sensors, including a GNSS receiver Ublox NEO-M8N, a Realsense D435i stereo camera, three Xsens MTi-300 and one PERSY (PEdestrian Reference SYstem), are mounted on different parts of the subject's body. The PERSY is a foot-mounted positioning device with a tri-axial accelerometer, a tri-axial gyroscope, a tri-axial magnetometer as well as a GNSS receiver Ublox M8T. The two scenarios are designed in a training centre of firefighters CFIS (Fire and Rescue Training Centre) in Blois, France to simulate the situation of firefighters during interventions. With total distances around 2 km for each scenario, the travelled trajectories passed through challenging environments including indoor, outdoor, urban canyon. The indoor part contains different stair levels, from the underground up to the 6th floor. The travel modes are vehicles and pedestrians. Several classical activities of firefighters are realized such as walking, running, stair-climbing, side-walking, crawling, passing above/below obstacles, carrying a stretcher, ladder climbing, etc. High accurate ground truth of stationary points and enclosing volumes are provided by the organizers of the competition, i.e., the Directorate General of Armaments (DGA: Direction Générale de l'Armement). Provided with raw data, they allow the evaluation of the positioning performances. This dataset is available on the data repository https://doi.org/10.5281/zenodo.4290789.

Walking Gait Step Length Asymmetry Induced by Handheld Device.

The modeling and feature extraction of human gait motion are crucial in biomechanics studies, human localization, and robotics applications. Recent studies in pedestrian navigation aim at extracting gait features based on the data of low-cost sensors embedded in handheld devices, such as smartphones. The general assumption in pedestrian dead reckoning (PDR) strategy for navigation application is that the presence of a device in hand does not impact the gait symmetry and that all steps are identical. This hypothesis, which is used to estimate the traveled distance, is investigated in this paper with an experimental study. Ten healthy volunteers participated in motion lab tests with a 0.190 kg device in hand. Several walking trials with different device carrying modes and several gait speeds were performed. For a fixed walking speed, it is shown that the steps differ in their duration when holding a mass equivalent to a smartphone mass, which invalidates classical symmetry hypothesis in the PDR step length modeling. It is also shown that this hypothesis can lead to a 2.5% to 6.3% error on the PDR estimated traveled distance for the different walking trials.

Delay Kalman Filter to Estimate the Attitude of a Mobile Object with Indoor Magnetic Field Gradients.

More and more services are based on knowing the location of pedestrians equipped with connected objects (smartphones, smartwatches, etc.). One part of the location estimation process is attitude estimation. Many algorithms have been proposed but they principally target open space areas where the local magnetic field equals the Earth's field. Unfortunately, this approach is impossible indoors, where the use of magnetometer arrays or magnetic field gradients has been proposed. However, current approaches omit the impact of past state estimates on the current orientation estimate, especially when a reference field is computed over a sliding window. A novel Delay Kalman filter is proposed in this paper to integrate this time correlation: the Delay MAGYQ. Experimental assessment, conducted in a motion lab with a handheld inertial and magnetic mobile unit, shows that the novel filter better estimates the Euler angles of the handheld device with an 11.7° mean error on the yaw angle as compared to 16.4° with a common Additive Extended Kalman filter.