The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Publications Copernicus
Articles | Volume XLIII-B2-2022
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B2-2022, 839–844, 2022
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B2-2022, 839–844, 2022
30 May 2022
30 May 2022


A. Masiero1, P. Dabove2, V. Di Pietra2, M. Piragnolo3, A. Vettore3, A. Guarnieri3, C. Toth4, V. Gikas5, H. Perakis5, K.-W. Chiang6, L. M. Ruotsalainen7, S. Goel8, and J. Gabela9 A. Masiero et al.
  • 1University of Florence, Italy
  • 2Politecnico di Torino, Italy
  • 3University of Padova, Italy
  • 4The Ohio State University, USA
  • 5National Technical University of Athens (NTUA), Greece
  • 6National Cheng Kung University, Tainan, Taiwan
  • 7University of Helsinki, Finland
  • 8Indian Institute of Technology Kanpur, India
  • 9TU Wien-Vienna University of Technology, Austria

Keywords: Pedestrian positioning, UWB, LiDAR, Vision, GNSS-denied environments

Abstract. Despite the availability of GNSS on consumer devices enabled personal navigation for most of the World population in most of the outdoor conditions, the problem of precise pedestrian positioning is still quite challenging when indoors or, more in general, in GNSS-challenging working conditions. Furthermore, the covid-19 pandemic also raised of pedestrian tracking, in any environment, but in particular indoors, where GNSS typically does not ensure sufficient accuracy for checking people distance. Motivated by the mentioned needs, this paper investigates the potential of UWB and LiDAR for pedestrian positioning and tracking. The two methods are compared in an outdoor case study, nevertheless, both are usable indoors as well. The obtained results show that the positioning performance of the LiDAR-based approach overcomes the UWB one, when the pedestrians are not obstructed by other objects in the LiDAR view. Nevertheless, the presence of obstructions causes gaps in the LiDAR-based tracking: instead, the combination of LiDAR and UWB can be used in order to reduce outages in the LiDAR-based solution, whereas the latter, when available, usually improves the UWB-based results.