Conditional Random Field-Based Offline Map Matching for Indoor Environments

Abstract

In this paper, we present an offline map matching technique designed for indoor localization systems based on conditional random fields (CRF). The proposed algorithm can refine the results of existing indoor localization systems and match them with the map, using loose coupling between the existing localization system and the proposed map matching technique. The purpose of this research is to investigate the efficiency of using the CRF technique in offline map matching problems for different scenarios and parameters. The algorithm was applied to several real and simulated trajectories of different lengths. The results were then refined and matched with the map using the CRF algorithm.

Keywords

• offline map matching
• indoor positioning
• indoor localization
• navigation systems
• conditional random fields
• map modelling
• inertial sensors
• mobility of pedestrians