# Zero-Velocity Detection - A Bayesian Approach to Adaptive Thresholding

arXiv: https://arxiv.org/abs/1903.07929 · HTML: https://mlsanity.com/paper/1903.07929/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Mar 2019.

## Built on by (most cited first, 1 of 1)

- [Graph-based Thermal-Inertial SLAM with Probabilistic Neural Networks](https://mlsanity.com/paper/2104.07196/) (2021)

## Abstract (arXiv)

A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information about the two hypotheses - the sensors being stationary or in motion - to be incorporated into the test. It is also possible to incorporate information about the cost of a missed detection or a false alarm. Specifically, we consider an hypothesis prior based on the velocity estimates provided by the navigation system and an exponential model for how the cost of a missed detection increases with the time since the last zero-velocity update. Thereby, we obtain a detection threshold that adapts to the motion characteristics of the user. Thus, the proposed detection framework efficiently solves one of the key challenges in current zero-velocity-aided inertial navigation systems: the tuning of the zero-velocity detection threshold. A performance evaluation on data with normal and fast gait demonstrates that the proposed detection framework outperforms any detector that chooses two separate fixed thresholds for the two gait speeds.