A Spatial-Contextual Indoor Trajectory Prediction Approach via Hidden Markov Models

Algorithm 2

Viterbi algorithm.

input: Observations of length n, indoor trajectory HMM

output: best path that generates the observations

1: // initialization

2: for each state in hidden states do

3:  

4:  

5: end for

6: //recursion

7: for each time step t from 2 to n do

8:  for each state in hidden states do

9:   

10:   

11:  end for

12: end for

13: //termination

14:

15:

16: // backtracking

17: Return