Smartphones Navigate from Street to Indoors with Multi-Sensor Integration
A framework to seamlessly navigate people from urban road traffic to indoor foot traffic uses the phone’s inertial measurement unit, GNSS chipset and camera, aided by an extended Kalman filter and ORB-SLAM. Tests show the framework performing well in both phases, guiding the phone’s user, behind the wheel on a city street, to a spot in an underground parking garage and walking to a meeting inside a large building.