142803.fig.001a
(a) The system at start
142803.fig.001b
(b) The occupant moves in the living room
142803.fig.001c
(c) The occupant enters the kitchen
142803.fig.001d
(d) The occupant opens the fridge door
Figure 1: The localization system in a real condition situation. The points show the particle cloud. The shaded areas indicate where the occupant is likely to be present.