{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T21:54:02Z","timestamp":1740174842090,"version":"3.37.3"},"reference-count":24,"publisher":"Wiley","license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Mobile Information Systems"],"published-print":{"date-parts":[[2016]]},"abstract":"<jats:p>Indoor navigation and mapping have recently become an important field of interest for researchers because global navigation satellite systems (GNSS) are very often unavailable inside buildings. FootSLAM, a SLAM (Simultaneous Localization and Mapping) algorithm for pedestrians based on step measurements, addresses the indoor mapping and positioning problem and can provide accurate positioning in many structured indoor environments. In this paper, we investigate how to compare FootSLAM maps via two entropy metrics. Since collaborative FootSLAM requires the alignment and combination of several individual FootSLAM maps, we also investigate measures that help to align maps that partially overlap. We distinguish between the map entropy conditioned on the sequence of pedestrian\u2019s poses, which is a measure of the uncertainty of the estimated map, and the entropy rate of the pedestrian\u2019s steps conditioned on the history of poses and conditioned on the estimated map. Because FootSLAM maps are built on a hexagon grid, the entropy and relative entropy metrics are derived for the special case of hexagonal transition maps. The entropy gives us a new insight on the performance of FootSLAM\u2019s map estimation process.<\/jats:p>","DOI":"10.1155\/2016\/9595306","type":"journal-article","created":{"date-parts":[[2016,10,10]],"date-time":"2016-10-10T17:09:36Z","timestamp":1476119376000},"page":"1-15","source":"Crossref","is-referenced-by-count":1,"title":["Measuring the Uncertainty of Probabilistic Maps Representing Human Motion for Indoor Navigation"],"prefix":"10.1155","volume":"2016","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3210-6259","authenticated-orcid":true,"given":"Susanna","family":"Kaiser","sequence":"first","affiliation":[{"name":"German Aerospace Center (DLR), Institute for Communications and Navigation, Oberpfaffenhofen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2688-2286","authenticated-orcid":true,"given":"Maria","family":"Garcia Puyol","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Institute for Communications and Navigation, Oberpfaffenhofen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6544-7570","authenticated-orcid":true,"given":"Patrick","family":"Robertson","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Institute for Communications and Navigation, Oberpfaffenhofen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/msp.2011.943410"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.905750"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/mcg.2005.140"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/surv.2012.121912.00075"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/mra.2006.1638022"},{"first-page":"167","volume-title":"Estimating uncertain spatial relationships in robotics","year":"1990","key":"10"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"year":"2006","key":"20"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1109\/jproc.2012.2189785"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1559\/152304096782562136"},{"year":"1988","key":"23"},{"year":"1964","key":"24"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1080\/13658811003619143"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1002\/j.1538-7305.1948.tb01338.x"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1016\/s0262-8856(00)00103-7"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907082610"},{"key":"31","doi-asserted-by":"publisher","DOI":"10.1126\/science.1177170"},{"year":"1981","key":"33"},{"year":"1984","key":"34"},{"key":"35","first-page":"1","volume":"2","year":"1993","journal-title":"Combinatorics, Paul Erd\u00f6s Is Eighty"},{"year":"2008","key":"37"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/tit.2004.826687"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.5121\/ijaia.2011.2301"},{"year":"2001","key":"40"}],"container-title":["Mobile Information Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/misy\/2016\/9595306.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/misy\/2016\/9595306.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/misy\/2016\/9595306.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2016,10,10]],"date-time":"2016-10-10T17:09:36Z","timestamp":1476119376000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/misy\/2016\/9595306\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"references-count":24,"alternative-id":["9595306","9595306"],"URL":"https:\/\/doi.org\/10.1155\/2016\/9595306","relation":{},"ISSN":["1574-017X","1875-905X"],"issn-type":[{"type":"print","value":"1574-017X"},{"type":"electronic","value":"1875-905X"}],"subject":[],"published":{"date-parts":[[2016]]}}}