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11:54, 19 September 2017 The step detector internally utilizes an accelerometer to detect steps taken by the operator. Thereby it tries to distinguish random device movements form actually taken steps. Once a step is detected, the position of the user is propagated in the direction of the device heading using a static step size. Therefore the position has to be initialized using another position estimation system.
Note that the [[Gyroscope]] has to be activated for the Step Detector Pose Estimation System.
== Characteristics ==
• Provides position in world coordinates once it is initialized by another posi-tion estimation system ([[AR-Marker]], [[GPS]], etc.).
• The error in position estimation accumulates with the walked distance.
• The position is not updated continuously, but event based.
• Detected steps are reported with a delay. If the heading changed since the actual step was taken, a wrong position is propagated.
• The mobile device has to point into walking direction, otherwise a wrong pose is propagated.