Indoor 3D navigation and positioning of vehicles in multi-storey parking garages

We propose a novel method for three-dimensional navigation and localization of a land vehicle in a multi-storey parking-garage. In order to navigate or localize in 3D space we also need height information in addition to 2D position. Conventionally, an altimeter is used to get the floor level/height information. The solution presented in this paper uses low cost gyro and odometer sensors, combined with a 3D map by means of particle filtering and collision detection techniques to localize the vehicle in a parking garage. This eliminates the necessity of an altimeter or other additional aiding sources such as radio signaling. Thus the proposed solution can be used without any additional infrastructure devices. Other sources of information, such as WLAN signals, can be used to complement the solution if and when available.