Abstract
In this work a pedestrian dead reckoning (PDR) algorithm is proposed in which 3-axis inertial sensors (accelerometer and gyroscope) are used. This work consists of the first stage of a project, in which inertial sensors will be integrated with a global position system (GPS) sensor and a camera in a hand-held platform which performs monocular simultaneous localization and mapping (mono SLAM). The PDR algorithm was implemented in Simulink-Matlab. We present results of applying this approach in a test trajectory in a National Institute for Astrophysics Optics and Electronics' (INAOE) building.
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