We describe an indoor pedestrian tracking system that can economically improve the tracking performance and the quality and value of services by incorporating other services synergistically. Our tracking system utilizes existing infrastructures to be used for security services such as surveillance cameras and active RFID tags which are sparsely put in place and generally used in plants, offices, and commercial facilities for estimating user's walking parameters and correction of tracking errors without significantly increasing costs, and realizes the improvement of the tracking performance by them. Furthermore, by sharing not only surveillance videos and RFID signals from security services but also the tracking information and models from 3D environment modeling services among services, each service can enhance the quality and value of the service and relatively reduce the costs for creating the data and realizing functions.
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