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

Table 7

Mean error and RMSE for 4 holding styles at the final position.

Holding style	HA		CA		SW		PO
Method	i-PDR	Proposed	i-PDR	Proposed	i-PDR	Proposed	i-PDR	Proposed
Mean error (m)	5.74	2.59	5.33	1.77	3.63	2.42	3.48	2.64
RMSE (m)	6.06	2.69	5.83	2.07	4.17	2.55	3.93	2.81