Performance analysis of the IOPES seamless indoor-outdoor positioning approach

Tracking the members of civil protection or emergency teams is still an open issue. Although outdoors tracking is routinely performed using well-seasoned techniques such as GNSS, this same problem must be still solved for indoors situations. There exist several approaches for indoor positioning, but these are not appropriate for tracking emergency staff in real-time: some of these approaches rely on existing infrastructures; others have not been tested in light devices in real-time; none offers a combined solution. The IOPES project seeks to solve or at least alleviate this problem by building a portable, unobtrusive, lightweight device combining GNSS for outdoor positioning and visual-inertial odometry / SLAM for the indoors case. This work, the third of the IOPES series, presents the analysis of the performance results obtained after developing and testing the first IOPES prototype. To do it, the operational aspects of the prototype, the real-life scenarios where the tests took place and the actual results thus obtained are described.This publication has been produced with the support of the European Commission. The contents of this publication are the sole responsibility of the authors and can in no way be taken to reflect the views of the European Commission. This contribution is part of the results of IOPES project, co-funded by the European Commission, Directorate-General Humanitarian Aid and Civil Protection (ECHO), under the call UCPM-2019-PP-AG.Peer ReviewedPostprint (published version