Figure 8
From: A human motion model based on maps for navigation systems
Average position error of a PF positioning estimator that is based on the playback of real data collected using a foot-mounted IMU, GPS, and a compass. The black curve shows the estimator performance when walls are used as a replacement for the proper motion model with an average position error of 1.5 m. The red curve shows the estimator performance when our maps-based motion model is used with an average position error of 1.33 m. The use of our maps-based motion model did not improve the estimation error noticeably because of the very accurate odometry estimates and the wall restrictions inside the building.