Application of particle filtering in navigation system for blind

The navigation system for the blind, equipped with the GPS receiver, digital map and dead-reckoning sensors, is described. The problem of estimation of the pedestrian position, based on information from different sources, is solved using the approach known as particle filtering. The particle clustering and convex region mapping techniques are used to guarantee that at all times the position estimates are feasible, i.e. that they comply with the constraints imposed by the digital map of the traversed area.