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stretched gfx (less height)

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removed some words for a better text-flow
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FrankE
2016-02-25 11:02:03 +01:00
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tex/chapters/relatedwork.tex
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@@ -7,9 +7,9 @@ They differ mainly by the used sensors, their probabilistic models and how envir
For example \cite{Li2015} recently presented an approach combining methods of pedestrian dead reckoning (PDR), \docWIFI{}
fingerprinting and magnetic matching using a Kalman filter. While providing good results, fingerprinting methods
require an extensive offline calibration phase. Therefore, many other systems like \cite{Fang09} or \cite{Ebner-15}
use signal strength prediction models like the log-distance model or wall-attenuation-factor model.
Additionally, the sensors noise is not always Gaussian or satisfies the central limit theorem, what makes the
usage of Kalman filters problematic \cite{sarkka2013bayesian, Nurminen2014}.
use signal strength prediction models like the log-distance or wall-attenuation-factor model.
Additionally, the sensors noise is not always Gaussian or satisfies the central limit theorem. Using
Kalman filters is therefore problematic \cite{sarkka2013bayesian, Nurminen2014}.
All this shows, that sensor models differ in many ways and are a subject in itself.
A good discussion on different sensor models can be found in \cite{Yang2015}, \cite{Gu2009} or \cite{Khaleghi2013}.
@@ -56,9 +56,9 @@ Likewise, cells occupied by obstacles or walls are less likely.
Additionally, every grid cell is able to hold some context information about the environment (e.g. elevators or stairs)
or the behaviour of a pedestrian at this particular position (e.g. jumping or running).
A similar approach is presented in \cite{Li2010}, \cite{Ebner-15} and is also used within this work.
By assuming that the floorplan is given beforehand, the occupied cells can be removed.
The remaining cells are described by their centre/bounding-box and represent all free spaces in the indoor environment.
A similar approach, presented in \cite{Li2010}, \cite{Ebner-15}, is also used within this work.
Assuming the floorplan is given beforehand, occupied cells can be removed.
The remaining cells are described by their centre/bounding-box and represent free spaces within the environment.
A graph is defined by using the centres as nodes and connecting direct neighbours with edges.
In order to enable floor changes, some approaches suggest to simply connect the nodes at staircases \cite{Ebner-15, Hilsenbeck2014}.