== 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. • * Requires a Step-Detector sensor. • * Requires active [[Gyroscope]].