Correcting Path of a Shopping Cart Using a Particle Filter and an Environment Map

— Understanding of consumer behaviors contributes a store for improving the profitability. It is important to analyze and understand consumer trajectories in a store building for the purpose. Therefore analyses of purchasing history and consumer's movement are performed in the process. Purchasing histories is regularly obtained via a POS system. For acquiring the movement path, a measurement device using an optical sensor and a gyro sensor was proposed in our preview research. However, the device has a problem of poor measurement accuracy because of the accumulated error in the sensors. In this study, we propose a method for improving the measurement accuracy by using a particle filter and an environmental map. In various environments, we inspect the usefulness of this method. We describe the outline of the device and the path estimated by the method, using the measured data with a map .