Figure 2.

Transformation of the capacitance measurements into the local coordinate system of the tracked person and resampling. 1. Sensor activations in the global coordinates, with examples of how a foot on the floor influences the measured capacitances (grey = unoccupied, yellow to red = level of electric capacitance). 2. The sensor state is translated to the tracked position $x_{p,t}$ and rotated into the walking direction by walking angle $\theta$ . 3. The sensor activations are resampled to the grid that is shown with the diamonds, which is defined by the sampling resolution $l_s$ and radius $r_s$ . The sample point that is closest to a transformed sensor field centroid takes its capacitance value. Then, the grid is reshaped into vector form as shown by the meandering blue arrow.