Figure 9
From: Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging
Illustration of the gain of dual foot-mounted sensors and inter-agent ranging. The upper plot shows the step-wise dead reckoning of the individual feet (in blue and green) without any further information. The middle plot shows the step-wise dead reckoning with range constraints between the feet of the individual agents. The lower plot shows the complete cooperative localization with step-wise dead reckoning, range constraints, and inter-agent ranging.