Small fixes abstract & intro
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\abstract{
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Within this work we present an updated version of our \del{award-winning} indoor localization system for smartphones.
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The \add{pedestrian's} position is given by means of recursive state estimation using a particle filter to incorporate different probabilistic sensor models.
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Our \del{rapid computation} \add{recently presented approximation} scheme of the kernel density estimation allows to find an exact estimation of the current position\add{, instead of classical methods like weighted-average}.
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Our \del{rapid computation} \add{recently presented approximation} scheme of the kernel density estimation allows to find an exact estimation of the current position\add{, compared to classical methods like weighted-average}.
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%
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Absolute positioning information is given by a comparison between recent \docWIFI{} measurements of nearby access points and signal strength predictions.
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Instead of using time-consuming approaches like classic fingerprinting or measuring the exact positions of access points, we use an optimization scheme based on a few reference measurements to estimate a corresponding \docWIFI{} model.
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