Research Article
Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation
Figure 11
Accumulated posterior map obtained by FootSLAM estimation at time indices equal to 48, 50, 88, 128, and 154. Different shades of gray encode the weight of the corresponding particle (darker means higher weight). The current position is marked in red. The best posterior map is shown in blue.
(a) Time index |
(b) Time index |
(c) Time index |
(d) Time index |
(e) Time index |