Patent ID: 8626443

Claim:
A method for creating a map relating to location-related data on the likelihood of the future movement of a person in a spatial environment, said method comprising causing at least one person to carry one or more sensors for odometrical measurement (odometry), wherein the odometry is error-prone due to inherent measurement inaccuracies of the one or more sensors, causing the at least one person to move by foot through the spatial environment, determining from measurement signals of the one or more sensors information regarding the pedestrian step lengths and/or pedestrian step direction and/or orientation of the sensor or the person (called odometry information Z u ), creating a map based on said odometry information using a Bayesian estimator, wherein a state-variable space thereof comprises both the current pedestrian step (pedestrian step length and optionally movement direction change as well) of the person, odometry errors E and also the location-related data on the probabilities of the future movement of the person.