Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation

<div>Total overlapping map built from a combination of FootSLAM results of <svg height="11.927pt" id="M315" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 36.6381 11.927" width="36.6381pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z" id="g113-69"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.893,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.839,0)"><path d="M469 201V252H50V201H469Z" id="g190-178"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="520" vert-adv-y="520"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,21.625,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z" id="g113-69"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,31.518,3.132)"><path d="M141 347C171 480 264 541 327 570C364 587 403 599 436 605L429 641C389 634 339 622 300 609C191 570 37 458 37 239C37 86 126 -12 245 -12C367 -12 454 89 454 210C454 314 380 397 272 397C252 397 230 390 208 380L141 347ZM231 338C323 338 366 257 366 174C366 108 340 27 263 27C180 27 129 123 129 244C129 268 130 292 135 310C158 323 193 338 231 338Z" id="g50-55"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg>. The accumulated posterior maps of <svg height="11.927pt" id="M316" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 36.6381 11.927" width="36.6381pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z" id="g113-69"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.893,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.839,0)"><path d="M469 201V252H50V201H469Z" id="g190-178"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="520" vert-adv-y="520"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,21.625,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z" id="g113-69"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,31.518,3.132)"><path d="M141 347C171 480 264 541 327 570C364 587 403 599 436 605L429 641C389 634 339 622 300 609C191 570 37 458 37 239C37 86 126 -12 245 -12C367 -12 454 89 454 210C454 314 380 397 272 397C252 397 230 390 208 380L141 347ZM231 338C323 338 366 257 366 174C366 108 340 27 263 27C180 27 129 123 129 244C129 268 130 292 135 310C158 323 193 338 231 338Z" id="g50-55"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> can be seen in Figure <a href="../fig8/">8</a>.</div>

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fig6

Figure 6

Figure 6: Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation 