Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation

@article{Wagstaff2020RobustDZ,
  title={Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation},
  author={Brandon Wagstaff and Valentin Peretroukhin and Jonathan Kelly},
  journal={IEEE Sensors Journal},
  year={2020},
  volume={20},
  pages={957-967}
}
  • Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly
  • Published in IEEE Sensors Journal 2020
  • Engineering, Computer Science
  • We present two novel techniques for detecting zero-velocity events to improve foot-mounted inertial navigation. Our first technique augments a classical zero-velocity detector by incorporating a motion classifier that adaptively updates the detector’s threshold parameter. Our second technique uses a long short-term memory (LSTM) recurrent neural network to classify zero-velocity events from raw inertial data, in contrast to the majority of zero-velocity detection methods that rely on basic… CONTINUE READING

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