Table 2: Classification results.

Training set SVM MAP

Walking (%) 90.4 91.8
Stair climbing (%) 91.3 90.9
Stair descending (%) 90.1 90.0

Testing set SVM MAP

Walking (%) 77.2 85.1
Stair climbing (%) 77.7 87.2
Stair descending (%) 74.2 81.3