Estimating human locomotion in GPS-denied environments: pedestrian dead-reckoning, direction-change intention and trajectory reconstruction. From body-worn inertial sensors, without external positioning infrastructure.

Objectives:

1. Pedestrian dead-reckoning and waist-worn inertial navigation

2. Accelerometry-based distance, speed and slope estimation

3. Step segmentation and stride-length modeling

4. Real-time short-term pedestrian trajectory prediction

5. Intention and turn anticipation from body kinematics