Improving Simultaneous Localization and Mapping for pedestrian navigation and automatic mapping of buildings by using online human-based feature labeling

In this paper we present an extension to odometry based SLAM for pedestrians that incorporates human-reported measurements of recognizable features, or “places” in an environment. The method which we have called “PlaceSLAM” builds on the Simultaneous Localization and Mapping (SLAM) principle in that a spatial representation of such places can be built up during the localization process. We see an important application to be in mapping of new areas by volunteering pedestrians themselves, in particular to improve the accuracy of “FootSLAM” which is based on human step estimation (odometry). We present a description of various flavors of PlaceSLAM and derive a Bayesian formulation and particle filtering implementation for the most general variant. In particular we distinguish between two important cases which depend on whether the pedestrian is required to report a place´s identifier or not. Our results based on experimental data show that our approach can significantly improve the accuracy and stability of FootSLAM and this with very little additional complexity. After mapping has been performed, users of such improved FootSLAM maps need not report places themselves.