CMU report: An Analysis of the Human Odometer

U. Wong, C. Lyons, and S. Thayer. tech. report CMU-RI-TR-05-47, Robotics Institute, Carnegie Mellon University, September, 2005.

The Human Odometer is a personal navigation system developed to provide reliable, lightweight, cost-effective, and embedded absolute 3-D position and communication to firefighters, policemen, EMTs, and dismounted soldiers. The goal of the system is to maintain accurate position information without reliance on external references. The Human Odometer system provides real-time position updates and displays maps of relevant areas are to the user on a handheld computer. The system is designed to help a user place himself in a global context and navigate unknown areas under a variety of conditions. This paper provides a quantitative analysis of the in-field operational performance of the system. The pdf file.