Step Detector

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 position 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.