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With the rapid increase of location based services, various indoor positioning technologies have emerged. The existing indoor positioning technologies have different characteristics in localization accuracy, real-time performance, coverage and cost. To meet the requirements of high accuracy, low cost, and broad coverage in complex indoor scenes, we design an indoor localization system WiMag: Multimode...
In this paper, IMU and magnetometer models that enable pedestrian dead-reckoning without step detection or zero velocity updates on hand-held devices such as smartphones are proposed. The models are suitable for usage with any standard Bayesian filtering or smoothing technique and thus, do not require customized estimators. The method is evaluated in a real scenario using a dataset of approximately...
We present a novel visual-magneto-inertial system for pedestrian indoor navigation. It includes magnetic, inertial and depth sensors integrated into a device that can be hand held by a pedestrian. Our method builds upon a magneto-inertial tachymeter that is able to accurately reconstruct body speed in presence of magnetic gradient and a depth registration algorithm for computing inter-image movement...
To tackle the error accumulation problems of the foot-mounted inertial positioning systems, aiding measurements are often adopted to calibrate the inertial-generated raw trajectories. Currently, the calibration methods, although effective, still lack interior connection and unity. In this paper, a unified anchor based trajectory calibration framework is proposed. The concept of anchors is defined...
In this paper we describe a system for indoor navigation in complex public or commercial facilities such as airports, train stations, clinics, museums, fairgrounds or conference centers. The concept of this approach is strongly focused on application in geographically distributed facilities containing multiple indoor areas, situated at various levels that are connected by stairs, escalator or elevators...
Simultaneous Localization and Mapping (SLAM) is the problem of constructing a 3D map while simultaneously keeping track of an agent location within the map. In recent years, work has focused in systems that use a single camera as the only sensing mechanism (monocular-SLAM). 3D reconstruction (map) by monocular-SLAM systems is a point cloud where all points preserve high accuracy and can deliver visual...
Indoor positioning with Pseudolites consists of deploying a network of terrestrial transmitters which have the same function as the Global Navigation Satellite Systems (GNSS) outdoor. In this paper, we propose an algorithm that allows carrying out sub-metric positioning using precise carrier phase measurements for a dynamic receiver. During the motion, the measured carried phases are changing according...
Indoor Positioning based on WiFi has received extensive focus from research communities, owing its promises of ubiquitous positioning indoors for a variety of applications. The majority of the existing research on WiFi positioning centers around the improvement of positioning accuracy. However, to this end there is missing a unanimous evaluation methodology appropriately reflecting criteria relevant...
The continuity of the positioning service, in all potential environments, and specifically from outdoors to indoors, is a fundamental aspect when one wants to increase the use of location-based services. Many techniques have so far been investigated, ranging from inertial systems to the latest light fidelity approaches. Besides these physical means, an aspect which is almost as important is the associated...
Indoor positioning through signal fingerprinting is a popular choice since it requires little or no additional infrastructure. However, the initial creation and subsequent maintenance of the signal maps remains a challenge since traditional manual surveying is not scalable. In this work we look at the use of path surveys, which attempt to construct the signal maps from a sparse set of fingerprints...
Indoor positioning seems to be one of the most challenging positioning problems. Many techniques have been proposed for many years now, ranging from inertial sensors to light-based systems. So far, our approaches have been based on a very simple basis: since GNSS (Global Navigation Satellite System) receivers are widely available on mobile terminals, why not use them. Thus, the main principles are...
In this paper, we address the problem of range-based beacon placement given a floor plan to support indoor localization systems. Existing approaches for trilateration require three or more beacons to determine a unique position solution. We show that with prior knowledge of the map and a model of beacon coverage, it is possible to uniquely localize with only two beacons. This not only reduces installation...
Localization is crucial for various applications, this includes resource coordination in small and ultra-small cells, as well as the whole range of Location Based Service (LBS). Multilateration is a localization technique that is based on distance measurements between multiple reference nodes and a target node. This paper introduces a multilateration localization approach that uses Singular Value...
Localization systems for mobile robots are a trade-off between accuracy, robustness and costs. Current solutions for landmark based indoor localization are either expensive or inaccurate and unreliable. Accurate solutions for instance require costly infrastructure and/or high computational power. Additionally, self-balancing robots have particular challenges due to the unstable nature of the system...
This paper presents a series of tests and analyses undertaken to investigate the performance capabilities of an active RFID system (Freaquent®) for asset tracking and personal mobility. The RFID system was tested exhaustively considering a number of user requirements including maximum operating distance, antenna orientation, position accuracy, the influences caused by nearby objects and the operating...
This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra...
Personal dead reckoning (PDR) localization technology can provide effective and critical assistance for public security, such as emergency rescue or anti-terror training in the indoor or underground environment without the need of deploying additional positioning infrastructure. However, the PDR suffers from the severe position error accumulation with time due to the inaccurate step length and moving...
A preliminary framework for inferring continuous-time target trajectory (namely “track”) is given for a class of target tracking problems in which the target is subject to a rather smooth evolving process in time series, such as tracking passenger aircrafts or ships that have scheduled routes. As the core idea, the distant estimates given over time by a recursive estimator are ‘fitted’ by using a...
This paper introduces our work in the framework of Track 3 of the IPIN 2016 Indoor Localization Competition, which addresses the smartphone-based tracking problem in an offline manner. Our approach splits the path-reconstruction into several smaller tasks, including building identification, floor identification, user direction and speed inference. For each task, a specific set of data from the provided...
Localization services available on today's mobile devices are proprietary and leverage a limited set of sources of location information. Integration of new location estimation methods is therefore cumbersome, requiring adaptation to the specific interfaces of the proprietary location service. In addition, location-based applications are tightly interwoven with the location service that is typically...
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