A Hidden Markov Model-Based Map-Matching Algorithm for Wheelchair Navigation
- 15 June 2009
- journal article
- research article
- Published by Cambridge University Press (CUP) in Journal of Navigation
- Vol. 62 (3), 383-395
- https://doi.org/10.1017/s0373463309005347
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
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