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a/tex/chapters/abstract.tex +++ b/tex/chapters/abstract.tex @@ -1,4 +1,13 @@ - \begin{abstract} - +Indoor localisation continuous to be a topic of growing importance. Many different approaches for estimating the position of a pedestrian are presented year after year. +Despite the advances made, several profound problems are still present. +For example, estimating an accurate position from a multimodal distribution or recovering from the influence of faulty measurements. +Within this work, we try do solve such problems with help of Monte Carlo smoothing methods, namely forward-backward smoother and backward simulation. +In contrast to normal filtering procedures like particle filtering, smoothing methods are able to incorporate future measurements instead of just using current and past data. +This enables many possibilities for further improving the position estimation. +Both smoothing techniques are deployed as fixed-lag and fixed-interval smoother and two novel approaches for incorporating them easily within our localisation system are presented. +All this is evaluated on four floors within our faculty building. +The results show that smoothing methods offer a great tool for improving the localisation results. +Especially fixed-lag smoothing provides a great runtime support by reducing timely errors and improving the overall estimation with affordable costs. \end{abstract} +%\begin{IEEEkeywords} indoor positioning, Monte Carlo smoothing, particle smoothing, sequential Monte Carlo\end{IEEEkeywords}