Fusion-DHL: WiFi, IMU, and Floorplan Fusion for Dense History of Locations in Indoor Environments
Sachini Herath Saghar Irandoust Bowen Chen Yiming Qian Pyojin Kim Yasutaka Furukawa Sachini Herath Saghar Irandoust Bowen Chen Yiming Qian Pyojin Kim Yasutaka Furukawa
The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to estimate a relative motion trajectory from IMU sensor data; 2) a WiFi-based localization API in industry to obtain positional constraints and geo-localize the trajec...