| 摘要 |
Various techniques are provided which may be implemented in one or more methods, apparatuses, and/or articles of manufacture for use with and/or in a mobile device to obtain this date/trajectory estimation us within an indoor environment. In an example, a mobile device may apply a motion model to propagate an estimated state of the mobile device from a first state corresponding to a first location of an electronic map representing an indoor environment to a second state corresponding to a second location of the electronic map, based, at least in part, on one or more sensed parameters. The mobile device may further validate the estimated state as propagated in response to a determination that a trajectory from the first location to the second location crosses a transition feature of a barrier presented by at least one obstacle identified in the electronic map.
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