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Abstract

The method for localisation and mapping of pedestrians or robots using Wireless Access Points comprises the following steps: Wireless Signal Strength and/or time delay measurements from wireless access points (e.g. Wireless Local Area Network access points (WLAN, Wifi, WIMAX), or mobile radio base stations (e.g. GSM, UMTS, LTE, 4G, IS95 or RFID tags or transmitters) are taken at regular or irregular time instances by a device carried by the pedestrian or robot in addition to odometry measurements (e.g. human step measurements, human pedestrian dead-reckoning, robot or wheelchair wheel counter measurements, robot motor or wheelchair motor control inputs), and providing a particle filter which has a state model that comprises the pedestrian or robot location history for each particle, and also the location probability distribution of one or more wireless access points, wherein at each time-step of the particle filter each particle of the particle filter is weighted and/or propagated according to the odometry measurements and weighted and/or propagated according to the wireless measurement, wherein at each time-step of the particle filter the location probability distribution of the wireless access points for each particle is updated according to the measurement and the previous location probability distribution of that particle, and wherein the location of the pedestrian or robot and/or the map of the wireless access point(s) is extracted from the particle population (e.g. from the state of the particle with greatest weight, from the weighted state across all particles, from the state of a randomly chosen particle, from the state of the maximum likelihood particle).

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First Claim