Working with building the larger infrastructure free localization system based on the OpenShoe units, we have been forced to study the issue of system integration of foot-mounted inertial navigation. Recently, some results from that was accepted for presentation at the next IROS conference, Nov. 3–7 in Tokyo. It concerns the initialization of the foot-mounted inertial navigation system of different agents relative each other by means of inter-agent ranging. Just like the work dealt with in the last post, this is not really a part of the OpenShoe project but it is still relevant since if you are to use the OpenShoe units in a larger system, you will most likely encounter the problem.
Anyway, the article is available under the publication section and here:
Recursive Bayesian Initialization of Localization Based on Ranging and Dead Reckoning