A Multi-Floor Indoor Pedestrian Localization Method Using Landmarks Detection for Different Holding Styles

Table 2

Errors in initial position detection.

Recognized		(1)	(2)	(3)	(6)	(7)	Position error	Floor error
3^rd	(1)	20	0	0	0	0	0	0
	(2)	0	20	0	0	0	0	0
	(3)	0	0	20	0	0	0	0
	(6)	0	0	0	20	0	0	0
	(7)	0	0	0	0	20	0	0
Recognized		(10)	(11)	(13)	(14)	(15)	Position error	Floor error
2^nd	(10)	20	0	0	0	0	0	0
	(11)	0	20	0	0	0	0	0
	(13)	0	0	20	0	0	0	0
	(14)	0	0	0	17	0	3	3
	(15)	0	0	0	0	18	2	2
Recognized		(18)	(19)	(21)	(22)	(23)	Position error	Floor error
1^st	(18)	20	0	0	0	0	0	0
	(19)	0	19	0	0	0	1	1
	(21)	0	0	20	0	0	0	0
	(22)	0	0	0	20	0	0	0
	(23)	0	0	0	0	20	0	0