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Zhu N, Ortiz M and Renaudin V (2019), "Seamless Indoor--Outdoor Infrastructure--free Navigation for Pedestrians and Vehicles with GNSS--aided Foot--mounted IMU", In 2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN). , pp. 8 p.. Institute of Electrical and Electronics Engineers -- IEEE.
Abstract: With the highly development of navigation techniques during the past decades, the demand for seamless indoor--outdoor navigation is growing from different application fields especially for the military or the first response emergency services. For military applications, one of the key performance requirements is the availability of the positioning solutions for all kinds of dynamics in different environments. Furthermore, due to the stealth requirement in some military actions, it is impossible for military vehicles or personnel to emit signals which enable to be detected by their opponents. This limitation prevents the use of infrastructure--based cooperative localization techniques. The research work of this paper aims at facing the following challenging issues: firstly, to design a positioning filter which is adaptive to the dynamic changes between walking and driving; secondly, to find an approach that correctly identifies the transition between outdoor and indoor with reduced latency; finally, to construct a loosely coupling GNSS/IMU scheme which takes into account the GNSS signal distortion in indoor and urban spaces. Under this context, we propose a complete indoor--outdoor infrastructure--free positioning prototype including a foot--mounted reference navigation system named Pedestrian Reference System (PERSY) and a Ublox High Sensitivity GNSS (HSGNSS) receiver (M8P). A loosely--coupled architecture between GNSS receiver and the PERSY is employed by using an indicator of horizontal position accuracy $$$backslash$textitPACCH provided by the GNSS Ublox M8P receiver. This indicator allows qualifying the position solutions delivered by the GNSS receiver as well as detecting the transition of indoor/outdoor, which helps the PERSY to update with absolute positions from GNSS. This positioning prototype can take advantage of both GNSS and PERSY so as to realize a seamless indoor--outdoor positioning for pedestrians and vehicles. The proposed system is evaluated in two scenarios over respectively 2.17 km and 2.68 km including indoor , outdoor and in--vehicle phases. The median horizontal position errors for the two scenarios are respectively 2.23 m and 1.93 m.
BibTeX:
@inproceedings{Ni2019,
  author = {Zhu, Ni and Ortiz, Miguel and Renaudin, Valerie},
  title = {Seamless Indoor--Outdoor Infrastructure--free Navigation for Pedestrians and Vehicles with GNSS--aided Foot--mounted IMU},
  booktitle = {2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  publisher = {Institute of Electrical and Electronics Engineers -- IEEE},
  year = {2019},
  pages = {8 p.}
}
Renaudin V and Ortiz M (2019), "véhicules autonomes", In 59e congrès annuel du club EEA.
Abstract: Présentation d'actions IFSTTAR sur le déploiement des véhicules autonomes, aspects industrialisation, recherche et enseignement.
BibTeX:
@inproceedings{RENAUDIN2019,
  author = {Renaudin, Valérie and Ortiz, Miguel},
  title = {véhicules autonomes},
  booktitle = {59e congrès annuel du club EEA},
  year = {2019},
  url = {https://clubeea2019.sciencesconf.org/}
}
Renaudin V (2019), "Indoor positioning: towards an infinite number of technologies?", In 10th Chinese Satellite Navigation Conference. , pp. 20p.
Abstract: Over the past 15 years, there has been an exponential growth of new technologies for indoor positioning and navigation. Unlike GNSS technology, which has become the leading solution for outdoor positioning, no technology has taken the lead indoors. With the price drop of radio beacons, we see a massive deployment of beacons' networks for positioning. Image processing is progressing fast thanks to machine learning techniques that improve the rendering of very low--cost cameras. More and more smart devices embed inertial sensors providing autonomous navigation options. These are only a few of the technologies deployed. Hybridizing technologies to find the best compromise between accuracy, cost and energy consumption is at the heart of ongoing development. The nature of sensors in the infrastructure or in smart devices, specific use cases requirements and privacy concerns about geolocated data are all features used to choose the right technologies to hybridize. Adopting a ubiquitous approach that combines dead reckoning and absolute positioning while recognizing the application and environmental context is certainly a strong trend in current developments and research. Given the great diversity of existing positioning systems and ways of presenting their performance, it seems almost impossible to provide a clear comparison of localization performance. The key to this comparison certainly lies in experimental comparative trials, in the same context and on identical scenarios. This approach started several years ago with international positioning competitions. This talk will review main indoor positioning technologies according to several comparison criteria. It will also exploit the results of last Indoor Positioning Indoor Navigation (IPIN) international competition that took place in a 9'000 m² shopping mall (Atlantis) in Nantes (France) where 49 teams competed.
BibTeX:
@inproceedings{RENAUDIN2019a,
  author = {Renaudin, Valérie},
  title = {Indoor positioning: towards an infinite number of technologies?},
  booktitle = {10th Chinese Satellite Navigation Conference},
  year = {2019},
  pages = {20p},
  url = {https://www.beidou.org/}
}
Perul J and Renaudin V (2019), "Fusion of Attitude and Statistical Walking Direction Estimations with Time--Difference Carrier Phase Velocity Update for Pedestrian Dead Reckoning Method", In 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019). , pp. p. 367-377. WILEY.
Abstract: Pedestrian location in urban or indoor environments is particularly complex. Indeed, GNSS technology generally used for localization is no longer sufficient in these challenging environments. However, the presence of many sensors in consumer equipment like smartphones allows the implementation of different methods. PDR (Pedestrian Dead Reckoning) is a position estimation method using inertial and magnetic sensor data. It is based on the determination of two elements: the step length and the walking direction. This direction is difficult to estimate for handheld sensors because the orientation of the sensor is not always aligned with the walking direction. Methods based on the study of horizontal hand accelerations can overcome this difficulty, but performance on real scenarios is not sufficient. This article proposes a new method for estimating the walking direction and position based on an extended Kalman filter. For this purpose, the angular estimates from the WAISS and MAGYQ algorithms are merged to update the estimate of the walking direction. Phase measurements are used with TDCP updates to correct the velocity and correct the walking direction. 6 experiments carried out with three subjects over distances between 650 and 1300m in texting mode, in real and challenging conditions are conducted. The mean angular error obtained is 4.6° and the mean position error is 0.5% of the travelled distance
BibTeX:
@inproceedings{PERUL2019,
  author = {Perul, Johan and Renaudin, Valérie},
  editor = {Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)},
  title = {Fusion of Attitude and Statistical Walking Direction Estimations with Time--Difference Carrier Phase Velocity Update for Pedestrian Dead Reckoning Method},
  booktitle = {32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)},
  publisher = {WILEY},
  year = {2019},
  pages = {p. 367--377},
  doi = {10.33012/2019.17035}
}
Coiret A, Vandanjon PO, Deljanin E, Ortiz M and Lorino T (2019), "Management of road speed sectioning to lower vehicle energy consumption", In TIS Roma 2019, AIIT 2nd International Congress on Transport Infrastructure and Systems in a changing world. , pp. 8p. Elsevier.
Abstract: Efforts to limit climate change should concern the transportation sector which is responsible for roughly a quarter of greenhouse gas emissions. Aside from vehicle's technical progress and driver eco--driving awareness, road infrastructure has a role to play in this environmental aim. At the project stage, the design of roads can avoid energy losses linked to marked ramps, but afterwards, during the use phase, road management can be a lever too. In this use phase framework, our paper is focused on energy saving that can be achieved by managing speed sectioning. The key point is to ensure consistency between vehicle dynamics, road longitudinal profile and speed policy. Indeed, eco--driving could be impeded if a limiting speed sign is encountered on a steep slope or in a sharp turn. In such a situation the speed sign will be qualified as misplaced. Mechanical braking has then to be used instead of simple natural deceleration. In 2018 the French government lowered authorized speed on secondary roads, from 90 to 80 km/h, with road safety as the primary motivation. In order to assess energy impact of speed--sectioning for these two speed limits, experiments have been carried out in four experimental sites. Furthermore criterion and dissipated energy computation have been developed. The developed energy computation yields to determine the expected fuel economy for the entire traffic over a day on a selected route or network. As a result, over consumption for a misplaced speed sign can reach up to 40 liters of fuel per day with an approaching speed of 80 km/h and 50 liters of fuel per day with an approaching speed of 90 km/h according to traffic data. Significant energy savings could therefore be achieved by sign placement optimization.
BibTeX:
@inproceedings{COIRET2019,
  author = {Coiret, Alex and Vandanjon, Pierre Olivier and Deljanin, Emir and Ortiz, Miguel and Lorino, Tristan},
  title = {Management of road speed sectioning to lower vehicle energy consumption},
  booktitle = {TIS Roma 2019, AIIT 2nd International Congress on Transport Infrastructure and Systems in a changing world},
  publisher = {Elsevier},
  year = {2019},
  pages = {8p}
}
Renaudin V (2018), "Préparation de la compétition internationale de localisation intérieure IPIN : cartographie de parcours piétons", In Forum de l'Association Française de Topographie.
Abstract: Présentation du travail de préparation de la compétition internationale de géolocalisation IPIN 2018
BibTeX:
@inproceedings{RENAUDIN2018a,
  author = {Renaudin, Valérie},
  title = {Préparation de la compétition internationale de localisation intérieure IPIN : cartographie de parcours piétons},
  booktitle = {Forum de l'Association Française de Topographie},
  year = {2018}
}
Renaudin V (2018), "Integrating human dimension in the development of pedestrian navigation", In ITSNT 2018, International Technical Symposium on Navigation and Timing. , pp. 34p.
Abstract: L'apparition de nouveaux objets connectés, portés au poignet, sur des bijoux ou des lunettes, offre de nouvelles opportunités d'améliorer la mobilité des personnes. Parallèlement, la complexité des mouvements humains pose de nouveaux défis dans le développement d'algorithmes de positionnement et de navigation. Trouver la bonne stratégie pour fusionner les signaux disponibles afin d'estimer les coordonnées de façon précise et fiable partout peut etre complexe. Cet exposé présente l'état actuel et les tendances en navigation piétonnière, avec un accent sur les approches de navigation à l'estime. Il traite de l'intégration des caractéristiques de la démarche humaine afin d'améliorer les modèles d'estimation du déplacement. Une nouvelle utilisation des données numériques urbaines et des mesures de signaux radio urbains dégradés pour améliorer l'estimation de l'emplacement des piétons dans le filtre d'hybridation est également présentée.
BibTeX:
@inproceedings{RENAUDIN2018,
  author = {Renaudin, Valérie},
  title = {Integrating human dimension in the development of pedestrian navigation},
  booktitle = {ITSNT 2018, International Technical Symposium on Navigation and Timing},
  year = {2018},
  pages = {34p},
  url = {http://www.itsnt.fr/}
}
Grenier A and Renaudin V (2019), "Efficient Use of SSR RTCM Streams For Real-Time Precise Point Positioning on Smartphones", In 2019 16th Workshop on Positioning, Navigation and Communications (WPNC). Bremen, Germany IEEE.
Abstract: Since the availability of GNSS raw measurements with Google Nougat API in 2016, research has been assessing smartphone performances and GNSS data's quality. The objective is to achieve precise positioning and to assess its quality. With the growing Internet of Things (IoT), embedded sensors spread everywhere for acquiring, assessing and monitoring the environment, for which low-cost and precise positioning is essential. Low-cost does not only relate to the financial cost of the GNSS receiver but also to other costs like data consumption, battery consumption and computation cost. Using the Google API and the new generation of smartphones, these costs can be targeted to produce smarter, more efficient, and optimized positioning solutions for being implemented on other IoT devices. This paper presents research on Real-Time Precise Point Positioning (PPP-RTK) application development in Android. Analysis of needed RTCM (Radio Technical Commission for Maritimes Services) streams is given along with the assessment of their benefits for efficient positioning. Focus is made on evaluating the cost of precise products in terms of internet data consumption.
BibTeX:
@inproceedings{Grenier2019a,
  author = {Grenier, Antoine and Renaudin, Valerie},
  title = {Efficient Use of SSR RTCM Streams For Real-Time Precise Point Positioning on Smartphones},
  booktitle = {2019 16th Workshop on Positioning, Navigation and Communications (WPNC)},
  publisher = {IEEE},
  year = {2019}
}
Renaudin V (2018), "Human dimensions of navigation", In The Israel Navigation Workshop and Exhibition INWE18. Hertzliya, Israel (January)
Abstract: Itzhack Bar Itzhack invited pleanry lecture at the The Israel Navigation Workshop and Exhibition INWE18
BibTeX:
@inproceedings{Renaudin2018b,
  author = {Renaudin, Valerie},
  title = {Human dimensions of navigation},
  booktitle = {The Israel Navigation Workshop and Exhibition INWE18},
  year = {2018},
  number = {January}
}
Perul J and Renaudin V (2018), "Building individual inertial signals models to estimate PDR walking direction with smartphone sensors", In 2018 International Conference on Indoor Positioning and Indoor Navigation. (September), pp. 24-27.
BibTeX:
@inproceedings{Perul2018,
  author = {Perul, Johan and Renaudin, Valerie},
  title = {Building individual inertial signals models to estimate PDR walking direction with smartphone sensors},
  booktitle = {2018 International Conference on Indoor Positioning and Indoor Navigation},
  year = {2018},
  number = {September},
  pages = {24--27}
}
Antigny N, Servières M and Renaudin V (2018), "Continuous Pose Estimation for Urban Pedestrian Applications on Hand-held Mobile Device", In 2018 International Conference on Indoor Positioning and Indoor Navigation. Nantes, France (September)
Abstract: To support pedestrian navigation in urban and indoor spaces, an accurate pose estimate (i.e. 3D position and 3D orientation) of an equipment held in hand constitutes an essential point in the development of mobility assistance tools (e.g. Augmented Reality applications). On the assumption that the pedestrian is only equipped with general public devices, the pose estimation is restricted to the use of low-cost sensors embedded in the latter (i.e. an Inertial and Magnetic Measurement Unit and a monocular camera). In addition, urban and indoor spaces, comprising closely-spaced buildings and ferromagnetic elements, constitute challenging areas for sensor pose estimation during large pedestrian displacements. However, the recent development and provision of 3D Geographical Information System content by cities constitutes a wealth of data usable for pose estimation. To address these challenges, we propose an autonomous sensor fusion framework for pedestrian hand-held device pose estimation in urban and indoor spaces. The proposed solution integrates inertial and magnetic-based attitude estimation, monocular Visual Odometry with pedestrian motion estimation for scale estimation and known 3D geospatial object recognitionbased absolute pose estimation. Firstly, this allows to continuously estimate a qualified pose of the device held in hand. Secondly, an absolute pose estimate enables to update and to improve the positioning accuracy. To assess the proposed solution, experimental data has been collected, for four different people, on a 0.5 km pedestrian walk in an urban space with sparse known objects and indoors passages. According to the performance evaluation, the sensors fusion process enhanced the pedestrian localization in areas where conventional hand-held systems were not accurate or available
BibTeX:
@inproceedings{Antigny2018,
  author = {Antigny, Nicolas and Servières, Myriam and Renaudin, Valérie},
  editor = {IEEE},
  title = {Continuous Pose Estimation for Urban Pedestrian Applications on Hand-held Mobile Device},
  booktitle = {2018 International Conference on Indoor Positioning and Indoor Navigation},
  year = {2018},
  number = {September}
}
Abid M, Renaudin V, Robert T, Aoustin Y and Carpentier EL (2018), "A Simulation-based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions", In 2018 International Conference on Indoor Positioning and Indoor Navigation. Nantes, France
BibTeX:
@inproceedings{Abid2018,
  author = {Abid, Mahdi and Renaudin, Valérie and Robert, Thomas and Aoustin, Yannick and Carpentier, Eric Le},
  title = {A Simulation-based Approach to Generate Walking Gait Accelerations for Pedestrian Navigation Solutions},
  booktitle = {2018 International Conference on Indoor Positioning and Indoor Navigation},
  year = {2018}
}
Le Scornec J, Ortiz M and Renaudin V (2017), "Foot-mounted pedestrian navigation reference with tightly coupled GNSS carrier phases, inertial and magnetic data", In 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN). Sapporo, Japan, sep, 2017. (September), pp. 1-8. IEEE.
BibTeX:
@inproceedings{LeScornec2017,
  author = {Le Scornec, Julien and Ortiz, Miguel and Renaudin, Valerie},
  title = {Foot-mounted pedestrian navigation reference with tightly coupled GNSS carrier phases, inertial and magnetic data},
  booktitle = {2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  publisher = {IEEE},
  year = {2017},
  number = {September},
  pages = {1--8},
  url = {http://ieeexplore.ieee.org/document/8115882/},
  doi = {10.1109/IPIN.2017.8115882}
}
Inderst F, Pascucci F and Renaudin V (2017), "PDR and GPS trajectory parts matching for an improved self-contained personal navigation solution with handheld device", In 2017 European Navigation Conference (ENC). Lausanne, Switzerland, may, 2017. , pp. 100-107. IEEE.
Abstract: The evolution of smartphones and their embedded sensors motivates research toward the development of handheld device based navigation solutions especially for harsh environments. In this context, Pedestrian Dead Reckoning is usually adopted to compute the pedestrian's trajectory. Step/stride lengths and walking directions are combined in a recursive process. Unfortunately the estimated path suffers from drifting errors due to the sensors' nature and the motion complexity. To reduce this error, map matching strategies are studied and several solutions are proposed in the literature. In this work a Matching Filter is proposed to mitigate the drifting errors. The Matching Filter is a nest filter based on an Extended Kalman Filter and a Complementary filter. The key idea is to match the PDR trajectory with the standalone GPS trajectory during opportune phases in order to estimate a global heading and scale factor errors on the PDR path. The proposed strategy is tested with a 1km walk in a shopping center. A 75% improvement is found as compared to the PDR only trajectory.
BibTeX:
@inproceedings{Inderst2017,
  author = {Inderst, Federica and Pascucci, Federica and Renaudin, Valerie},
  title = {PDR and GPS trajectory parts matching for an improved self-contained personal navigation solution with handheld device},
  booktitle = {2017 European Navigation Conference (ENC)},
  publisher = {IEEE},
  year = {2017},
  pages = {100--107},
  url = {http://ieeexplore.ieee.org/document/7954198/},
  doi = {10.1109/EURONAV.2017.7954198}
}
Antigny N, Servieres M and Renaudin V (2017), "Pedestrian track estimation with handheld monocular camera and inertial-magnetic sensor for urban augmented reality", In 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN). Sapporo, Japan, sep, 2017. (September), pp. 1-8. IEEE.
BibTeX:
@inproceedings{Antigny2017,
  author = {Antigny, Nicolas and Servieres, Myriam and Renaudin, Valerie},
  title = {Pedestrian track estimation with handheld monocular camera and inertial-magnetic sensor for urban augmented reality},
  booktitle = {2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  publisher = {IEEE},
  year = {2017},
  number = {September},
  pages = {1--8},
  url = {http://ieeexplore.ieee.org/document/8115934/},
  doi = {10.1109/IPIN.2017.8115934}
}
Antigny N, Servieres M and Renaudin V (2017), "[POSTER] An Inertial, Magnetic and Vision Based Trusted Pose Estimation for AR and 3D Data Qualification on Long Urban Pedestrian Displacements", In 2017 IEEE International Symposium on Mixed and Augmented Reality (ISMAR-Adjunct)., oct, 2017. , pp. 168-169. IEEE.
Abstract: In the context of pedestrian navigation, urban environment constitutes a challenging area for both localization and Augmented Reality (AR). In order to display 3D Geographic Information System (GIS) content in AR and to qualify them, we propose to fuse the pose estimated using vision thanks to a precisely known 3D urban furniture model with rotation estimated from inertial and magnetic measurements. An acquisition conducted in urban environment on a long pedestrian path permits to validate the contribution of sensors fusion and allows to qualify the pose estimation needed for AR 3D GIS content characterization.
BibTeX:
@inproceedings{Antigny2017a,
  author = {Antigny, Nicolas and Servieres, Myriam and Renaudin, Valerie},
  title = {[POSTER] An Inertial, Magnetic and Vision Based Trusted Pose Estimation for AR and 3D Data Qualification on Long Urban Pedestrian Displacements},
  booktitle = {2017 IEEE International Symposium on Mixed and Augmented Reality (ISMAR-Adjunct)},
  publisher = {IEEE},
  year = {2017},
  pages = {168--169},
  url = {http://ieeexplore.ieee.org/document/8088474/},
  doi = {10.1109/ISMAR-Adjunct.2017.57}
}
Alaoui FT, Renaudin V and Betaille D (2017), "Points of interest detection for map-aided PDR in combined outdoor-indoor spaces", In 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN). Sapporo, Japan, sep, 2017. (September), pp. 1-8. IEEE.
BibTeX:
@inproceedings{Alaoui2017,
  author = {Alaoui, F. Taia and Renaudin, Valerie and Betaille, David},
  title = {Points of interest detection for map-aided PDR in combined outdoor-indoor spaces},
  booktitle = {2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  publisher = {IEEE},
  year = {2017},
  number = {September},
  pages = {1--8},
  url = {http://ieeexplore.ieee.org/document/8115886/},
  doi = {10.1109/IPIN.2017.8115886}
}
Abid M, Renaudin V, Robert T, Aoustin Y and Le-Carpentier E (2017), "A human-like walking gait simulator for estimation of selected gait parameters", In 2017 14th Workshop on Positioning, Navigation and Communications (WPNC). Bremen, oct, 2017. , pp. 1-6. IEEE.
Abstract: textcopyright 2017 IEEE. Pedestrian dead reckoning (PDR) is one of the most employed strategies to process inertial signals collected with a handheld device for autonomous indoor positioning. This strategy is based on step length models that usually combine step characteristics with some physiological parameters. These models are calibrated with experimental data for each user. However, many physiological conditions are affecting the walking gait even for steady walking. Therefore, frequent calibration is needed to cope with walking pattern variations. Moreover, PDR models are not adapted to high walking velocities and to the specific walking patterns of some populations like elderly people and pathological cases. In light of these limitations, the modeling of human walking, which considers the induced arm swinging behavior, is needed for improving self-contained inertial indoor navigation. In this paper, a human-like walking model is developed in order to represent and study the correlations between the hand acceleration and gait characteristics. Experimental data were collected from motion capture experiments on one healthy subject in order to validate the model. Results show that the model fitted to the test subject reproduces the walking features found in experiments, as well as the same tendencies in function of the walking velocity.
BibTeX:
@inproceedings{Abid2017a,
  author = {Abid, Mahdi and Renaudin, Valerie and Robert, Thomas and Aoustin, Yannick and Le-Carpentier, Eric},
  title = {A human-like walking gait simulator for estimation of selected gait parameters},
  booktitle = {2017 14th Workshop on Positioning, Navigation and Communications (WPNC)},
  publisher = {IEEE},
  year = {2017},
  pages = {1--6},
  url = {http://ieeexplore.ieee.org/document/8250063/},
  doi = {10.1109/WPNC.2017.8250063}
}
Kumar S, Renaudin V, Aoustin Y, Le Carpentier E and Combettes C (2016), "Model - based and Experimental Analysis of the Symmetry in Human Walking in Different Device Carrying Modes", In 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). UTown, Singapore , pp. 1172 - 1179. IEEE.
Abstract: The advent of embedded sensors and their low cost integration in handheld devices (e.g. smartphones) are making them increasingly aware of the human location and context. There have been attempts to extract certain gait features (e.g. step length, step frequency etc.) based on data recorded from handheld devices. However, these attempts have been mostly inspired from observations in biomechanics. Hence, there is a profound need to study the modeling of human walking gait cycle while taking into account the different device carrying modes. It is hypothesized that the presence of handheld device in one hand can alter the step level symmetry of human walking gait cycle without affecting the stride level symmetry. The aim of this paper is to present a model of human walking gait cycle in different device carrying modes over a stride, which is based on parametric optimization technique used in robotics motion generation and the results of a preliminary experimentation conducted using motion capture technology. Both simulation and pilot experiments confirm that the presence of a small mass in one hand can affect the step level symmetry of the human walking gait which constitutes the novel outcome of this paper. Overall, the model successfully captures human walking features and can stand useful for the enhancement of existing pedestrian navigation algorithms with handheld devices for an increased autonomy of elderly people and pedestrian's mobility in general.
BibTeX:
@inproceedings{Kumar2016,
  author = {Kumar, Shivesh and Renaudin, Valerie and Aoustin, Yannick and Le Carpentier, Eric and Combettes, Christophe},
  title = {Model - based and Experimental Analysis of the Symmetry in Human Walking in Different Device Carrying Modes},
  booktitle = {6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
  publisher = {IEEE},
  year = {2016},
  pages = {1172 -- 1179},
  doi = {10.1109/BIOROB.2016.7523790}
}
Antigny N, Servières M and Renaudin V (2016), "Hybrid Visual and Inertial Position and Orientation Estimation based on Known Urban 3D Models", In International conference on Indoor Positioning and Indoor Navigation (IPIN). Madrid, Spain (October), pp. 4-7.
BibTeX:
@inproceedings{Antigny2016,
  author = {Antigny, Nicolas and Servières, Myriam and Renaudin, Valérie},
  title = {Hybrid Visual and Inertial Position and Orientation Estimation based on Known Urban 3D Models},
  booktitle = {International conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year = {2016},
  number = {October},
  pages = {4--7},
  doi = {10.1109/IPIN.2016.7743619}
}
Alaoui FT, Betaille D and Renaudin V (2016), "A multi-hypothesis particle filtering approach for pedestrian dead reckoning", In International Conference on Indoor Positioning and Indoor Navigation (IPIN). Madrid, Spain, oct, 2016. , pp. 1-8.
BibTeX:
@inproceedings{Alaoui2016,
  author = {Alaoui, F T and Betaille, D and Renaudin, V},
  title = {A multi-hypothesis particle filtering approach for pedestrian dead reckoning},
  booktitle = {International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year = {2016},
  pages = {1--8},
  doi = {10.1109/IPIN.2016.7743614}
}
Combettes C and Renaudin V (2015), "Comparison of Misalignment Estimation Techniques Between Handheld Device and Walking Directions", In International Conference on Indoor Positioning and Indoor Navigation (IPIN). Banff, Canada , pp. 13-16. IEEE.
Abstract: Pedestrian navigation systems based on smartphone are experiencing fast progress in indoor environment. Pedestrian dead reckoning approaches combined with improved inertial sensors' quality and the exploitation of magnetic field are used to mitigate the sensor drifts. The last remaining issue is related to the hand dynamic. It consists in estimating the angular misalignment between the smartphone pointing direction and the walking direction. Even though, some methods exist, their performances are lacking accuracy and reliability. A comparison of the three main methods to estimate this angular misalignment is performed. These methods are based on Principal Component Analysis (PCA), Forward and Lateral Accelerations Modeling (FLAM) and Frequency analysis of Inertial Signals (FIS). Despite better results for the FIS method all algorithm suffer from large outliers and a need for improved robustness is identified
BibTeX:
@inproceedings{Combettes2015,
  author = {Combettes, Christophe and Renaudin, Valerie},
  title = {Comparison of Misalignment Estimation Techniques Between Handheld Device and Walking Directions},
  booktitle = {International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  publisher = {IEEE},
  year = {2015},
  pages = {13--16}
}
Renaudin V, Combettes C and Peyret F (2014), "Quaternion Based Heading Estimation with Handheld MEMS in Indoor Environments", In Position Location And Navigation Conference. Monterey, CA, USA, May, 2014.
BibTeX:
@inproceedings{Renaudin2014a,
  author = {Renaudin, Valérie and Combettes, Christophe and Peyret, François},
  title = {Quaternion Based Heading Estimation with Handheld MEMS in Indoor Environments},
  booktitle = {Position Location And Navigation Conference},
  year = {2014}
}
Renaudin V, Demeule V and Ortiz M (2013), "Adaptative Pedestrian Displacement Estimation with a Smartphone for Free Inertial Navigation", IEEE International Conference on Indoor Positioning and Indoor Navigation, Montbéliard, France, pp. 916-924 - Oct. 2013., In IEEE International Conference on Indoor Positioning and Indoor Navigation. Montbéliard, France, October, 2013. , pp. 916-924.
BibTeX:
@inproceedings{Renaudin2013,
  author = {Renaudin, Valérie and Demeule, Vincent and Ortiz, Miguel},
  title = {Adaptative Pedestrian Displacement Estimation with a Smartphone for Free Inertial Navigation},
  booktitle = {IEEE International Conference on Indoor Positioning and Indoor Navigation},
  journal = {IEEE International Conference on Indoor Positioning and Indoor Navigation, Montbéliard, France, pp. 916-924 - Oct. 2013},
  year = {2013},
  pages = {916-924}
}
Renaudin V (2013), "Active Transport : A New Challenge for Indoor Positioning", In IEEE International Conference on Indoor Positioning and Indoor Navigation (IPIN). Montbéliard, France, October, 2013.
BibTeX:
@inproceedings{Renaudin2013a,
  author = {Renaudin, Valérie},
  title = {Active Transport : A New Challenge for Indoor Positioning},
  booktitle = {IEEE International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year = {2013}
}
Pinana-Diaz C, Toledo-Moreo R, Gomez-Skarmeta A, Bétaille D and Peyret F (2012), "Elevation-enhanced-map-based GPS Non-Line-Of-Sight detection in urban environments", In IEEE IV Symposium on navigation, perception, accurate positioning and mapping for intelligent vehicles. Alcalá de Henares, June, 2012.
BibTeX:
@inproceedings{Pinana-Diaz2012,
  author = {Pinana-Diaz, Carolina and Toledo-Moreo, Rafaelfael and Gomez-Skarmeta, Antonio and Bétaille, David and Peyret, François},
  title = {Elevation-enhanced-map-based GPS Non-Line-Of-Sight detection in urban environments},
  booktitle = {IEEE IV Symposium on navigation, perception, accurate positioning and mapping for intelligent vehicles},
  year = {2012}
}
Hage R-M, Bétaille D, Peyret F, Meizel D and Smal J-C (2012), "Unscented Kalman filter for urban link travel time estimation with mid-link sinks and sources", In IEEE ITS Conference. Anchorage, AK, September, 2012.
BibTeX:
@inproceedings{Hage2012,
  author = {Hage, Ré-Mi and Bétaille, David and Peyret, François and Meizel, Dominique and Smal, Jean-Christophe},
  title = {Unscented Kalman filter for urban link travel time estimation with mid-link sinks and sources},
  booktitle = {IEEE ITS Conference},
  year = {2012}
}
Hage R-M, Bétaille D, Peyret F and Meizel D (2012), "Unscented Kalman filter for estimating urban network travel time", 15th meeting of the European Working Group on Transportation – Paris – September 2012., In 15th meeting of the European Working Group on Transportation. Paris, September, 2012.
BibTeX:
@inproceedings{HAGE2012,
  author = {Hage, Ré-Mi and Bétaille, Davidvid and Peyret, F. and Meizel, Dominique},
  title = {Unscented Kalman filter for estimating urban network travel time},
  booktitle = {15th meeting of the European Working Group on Transportation},
  journal = {15th meeting of the European Working Group on Transportation – Paris – September 2012},
  year = {2012}
}
Bétaille D, Peyraud S, Mougel F, Renault S, Ortiz M, Meizel D and Peyret F (2012), "Using road constraints to progress in real-time NLOS detection", IEEE IV Symposium on navigation, perception, accurate positioning and mapping for intelligent vehicles – Alcalá de Henares – June 2012., In IEEE IV Symposium on navigation, perception, accurate positioning and mapping for intelligent vehicles. Alcalá de Henares, June, 2012.
BibTeX:
@inproceedings{Betaille2012,
  author = {Bétaille, David and Peyraud, Sébastien and Mougel, Florian and Renault, Stéphane and Ortiz, Miguel and Meizel, Dominique and Peyret, François},
  title = {Using road constraints to progress in real-time NLOS detection},
  booktitle = {IEEE IV Symposium on navigation, perception, accurate positioning and mapping for intelligent vehicles},
  journal = {IEEE IV Symposium on navigation, perception, accurate positioning and mapping for intelligent vehicles – Alcalá de Henares – June 2012},
  year = {2012}
}
Bétaille D, Nicolle P and Ieng S-S (2010), "Trajectographie Submétrique par Couplage DGPS, Carte Précise des Marquages et Vision", Conférence PRAC – Paris – Mai 2010., In Conference PRAC. Paris, Mai, 2010.
BibTeX:
@inproceedings{Betaille2010,
  author = {Bétaille, David and Nicolle, Philippe and Ieng, Sio-Song},
  title = {Trajectographie Submétrique par Couplage DGPS, Carte Précise des Marquages et Vision},
  booktitle = {Conference PRAC},
  journal = {Conférence PRAC – Paris – Mai 2010},
  year = {2010}
}