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A Hidden Markov Model-Based Map-Matching Algorithm for Wheelchair Navigation

Published online by Cambridge University Press:  15 June 2009

Ming Ren  and
Hassan A. Karimi
Ming Ren*
Affiliation:
(University of Pittsburgh)
Hassan A. Karimi
Affiliation:
(University of Pittsburgh)
*
(Email: mren@sis.pitt.edu)
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Abstract

Application of map-matching techniques to GPS positions can provide accurate vehicle location information in challenging situations. The Hidden Markov Model (HMM) is a statistical model that is well known for providing solutions to temporal recognition applications such as text and speech recognition. This paper introduces a novel map-matching algorithm based on HMM for GPS-based wheelchair navigation. Given GPS positions, a hidden Markov chain model is established by using both geometric data and the topology of sidewalk segments. The map-matching algorithm employs the Viterbi algorithm to estimate correct sidewalk segments as hidden states in a HMM in order to match GPS trajectory on the corresponding segment sequence. The HMM-based map-matching algorithm was validated on a campus sidewalk network for wheelchair navigation. The results show an improvement in tracking a wheelchair in dense urban conditions both in accuracy and in computational time.

Keywords

Hidden Markov ModelMap-matchingWheelchair navigation
Type
Research Article
Information
The Journal of Navigation , Volume 62 , Issue 3 , July 2009 , pp. 383 - 395
Copyright
Copyright © The Royal Institute of Navigation 2009

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