Fig. 7. Estimated Trajectories vs. Reference Trajectories. (a) Stereovision Trajectory: Indoor Segment-Office; (b) UWB vs. Reference: Indoor Segment- Office; (c) PDR vs. Reference: Indoor Segment-Office; (d) Stereovision vs. Reference: Indoor/Outdoor section; (e) PDR vs. Reference: Indoor/Outdoor section; (f) Experiment Path Segment: Stairs section. 52 IEEE Instrumentation & Measurement Magazine February 2022