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

Table 8

Statistics of calibration distances by detection of landmarks.

Holding style	HA	CA	SW	PO	Avg.
No. of detected landmarks	13	13	14	15	13.75
Detection ratio (%)	65.0	65.0	70.0	75.0	68.75
Max distance (m)	4.11	5.19	5.81	4.64	4.94
Min distance (m)	1.75	1.65	1.03	0.66	1.27
Mean distance (m)	3.37	3.34	3.27	2.27	3.06
Standard deviation (m)	0.95	1.30	1.71	1.37	1.33