This paper explores how inertial Pedestrian Dead-Reckoning (PDR) location systems can be improved with the use of a light sensor to measure the illumination gradients created when a person walks under ceiling-mounted unmodified indoor lights. The process of updating the inertial PDR estimates with the information provided by light detections is a new concept that we have named Light-m... https://www.spidertattooz.com/6-Rings-Kids/