The emergence of personal mobile device with
low cost sensors, such as accelerometer and digital compass,
has made dead-reckoning (DR) an attractive choice for indoor
pedestrian tracking. In this paper, we propose a robust DR
pedestrian tracking system on top of such commercially accessible
sensor sets capable of DR. The proposed method exploits the
fact that, multiple DR systems, carried by the same pedestrian,
have stable relative displacements with respect to the center
of motion, and therefore to each other.