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논문 기본 정보

자료유형
학술대회자료
저자정보
Jae Wook Park (Seoul National University) Jae Hong Lee (Seoul National University) Chan Gook Park (Seoul National University)
저널정보
제어로봇시스템학회 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2023
발행연도
2023.10
수록면
1,272 - 1,277 (6page)

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초록· 키워드

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In pedestrian dead reckoning (PDR) systems, accurate estimation of the walking direction is of paramount importance for achieving high localization accuracy. Despite numerous research endeavors in this area, a remaining challenge lies in cases where the direction indicated by the sensors does not align with the actual pedestrian"s walking direction. In this paper, we address this misalignment problem by focusing on the PCA-based method. While this method exploits the advantages of PCA, it is also subject to its limitations, notably its susceptibility to outliers due to abnormal actions beyond normal walking, which are commonly encountered in PDR scenarios. To ensure robustness against outliers, we propose a novel PCA-based method for estimating the walking direction. Through experiments conducted on various actions, we evaluate the performance of the proposed method. The results demonstrate that our proposed method, which applies stable principal component pursuit for robust PCA, achieves an improved performance with an RMSE of 5.15° compared to classical PCA. Furthermore, the proposed method exhibits stable estimation and robustness across all presented actions and sequences.

목차

Abstract
1. INTRODUCTION
2. ROBUST WALKING DIRECTION ESTIMATION
3. EXPERIMENTS AND RESULTS
4. CONCLUSION
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