... layout map matrix adequate for our simulation environment. The walls are depicted inblack, not easily reachable forest area is marked withdark gray, and flowerbed areas are drawn in light gray.Theareawherepeoplemaywalkisdrawninwhite.Inaddition, ... solutionto navigation in GPS signal degraded areas?. Geomatica. 59(2), 175–182(2005)6. M Kourogi, T Ishikawa, Y Kameda, J Ishikawa, K Aoki, T Kurata, Pedestriandead reckoning and its applications, ... [9],similar values were used for weighting regarding thefloor-plans: a probability of zero (actually a very smallvalue to all ow a small fraction of particl es to cross wallsin the case of very inaccurate...