K-Means Fingerprint Clustering for Low-Complexity Floor Estimation in Indoor Mobile Localization

Indoor localization in multi-floor buildings is an important research problem. Finding the correct floor, in a fast and efficient manner, in a shopping mall or an unknown university building can save the users' search time and can enable a myriad of Location Based Services in the future. One of the most widely spread techniques for floor estimation in multi-floor buildings is the fingerprinting-based localization using Received Signal Strength (RSS) measurements coming from indoor networks, such as WLAN and BLE. The clear advantage of RSS-based floor estimation is its ease of implementation on a multitude of mobile devices at the Application Programming Interface (API) level, because RSS values are directly accessible through API interface. However, the downside of a fingerprinting approach, especially for large-scale floor estimation and positioning solutions, is their need to store and transmit a huge amount of fingerprinting data. The problem becomes more severe when the localization is intended to be done on mobile devices which have limited memory, power, and computational resources. An alternative floor estimation method, which has lower complexity and is faster than the fingerprinting is the Weighted Centroid Localization (WCL) method. The trade-off is however paid in terms of a lower accuracy than the one obtained with traditional fingerprinting with Nearest Neighbour (NN) estimates. In this paper a novel K-means-based method for floor estimation via fingerprint clustering of WiFi and various other positioning sensor outputs is introduced. Our method achieves a floor estimation accuracy close to the one with NN fingerprinting, while significantly improves the complexity and the speed of the floor detection algorithm. The decrease in the database size is achieved through storing and transmitting only the cluster heads (CH's) and their corresponding floor labels.Comment: Accepted to IEEE Globecom 2015, Workshop on Localization and Tracking: Indoors, Outdoors and Emerging Network

FixMiner: Mining Relevant Fix Patterns for Automated Program Repair

Patching is a common activity in software development. It is generally performed on a source code base to address bugs or add new functionalities. In this context, given the recurrence of bugs across projects, the associated similar patches can be leveraged to extract generic fix actions. While the literature includes various approaches leveraging similarity among patches to guide program repair, these approaches often do not yield fix patterns that are tractable and reusable as actionable input to APR systems. In this paper, we propose a systematic and automated approach to mining relevant and actionable fix patterns based on an iterative clustering strategy applied to atomic changes within patches. The goal of FixMiner is thus to infer separate and reusable fix patterns that can be leveraged in other patch generation systems. Our technique, FixMiner, leverages Rich Edit Script which is a specialized tree structure of the edit scripts that captures the AST-level context of the code changes. FixMiner uses different tree representations of Rich Edit Scripts for each round of clustering to identify similar changes. These are abstract syntax trees, edit actions trees, and code context trees. We have evaluated FixMiner on thousands of software patches collected from open source projects. Preliminary results show that we are able to mine accurate patterns, efficiently exploiting change information in Rich Edit Scripts. We further integrated the mined patterns to an automated program repair prototype, PARFixMiner, with which we are able to correctly fix 26 bugs of the Defects4J benchmark. Beyond this quantitative performance, we show that the mined fix patterns are sufficiently relevant to produce patches with a high probability of correctness: 81% of PARFixMiner's generated plausible patches are correct.Comment: 31 pages, 11 figure

Classification of Occluded Objects using Fast Recurrent Processing

Recurrent neural networks are powerful tools for handling incomplete data problems in computer vision, thanks to their significant generative capabilities. However, the computational demand for these algorithms is too high to work in real time, without specialized hardware or software solutions. In this paper, we propose a framework for augmenting recurrent processing capabilities into a feedforward network without sacrificing much from computational efficiency. We assume a mixture model and generate samples of the last hidden layer according to the class decisions of the output layer, modify the hidden layer activity using the samples, and propagate to lower layers. For visual occlusion problem, the iterative procedure emulates feedforward-feedback loop, filling-in the missing hidden layer activity with meaningful representations. The proposed algorithm is tested on a widely used dataset, and shown to achieve 2$\times$ improvement in classification accuracy for occluded objects. When compared to Restricted Boltzmann Machines, our algorithm shows superior performance for occluded object classification.Comment: arXiv admin note: text overlap with arXiv:1409.8576 by other author

Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult to find a group of significant landmarks for current fast feature-based place recognition algorithms. This paper proposes a novel approach where local observations are matched to a general tree map using the Delaunay triangularization as the representation format. Instead of point cloud based matching methods, we utilize a topology-based method. First, tree trunk positions are registered at a prior run done by a forest harvester. Second, the resulting map is Delaunay triangularized. Third, a local submap of the autonomous robot is registered, triangularized and matched using triangular similarity maximization to estimate the position of the robot. We test our method on a dataset accumulated from a forestry site at Lieksa, Finland. A total length of 2100\,m of harvester path was recorded by an industrial harvester with a 3D laser scanner and a geolocation unit fixed to the frame. Our experiments show a 12\,cm s.t.d. in the location accuracy and with real-time data processing for speeds not exceeding 0.5\,m/s. The accuracy and speed limit is realistic during forest operations

Fast and robust 3D feature extraction from sparse point clouds

Matching 3D point clouds, a critical operation in map building and localization, is difficult with Velodyne-type sensors due to the sparse and non-uniform point clouds that they produce. Standard methods from dense 3D point clouds are generally not effective. In this paper, we describe a featurebased approach using Principal Components Analysis (PCA) of neighborhoods of points, which results in mathematically principled line and plane features. The key contribution in this work is to show how this type of feature extraction can be done efficiently and robustly even on non-uniformly sampled point clouds. The resulting detector runs in real-time and can be easily tuned to have a low false positive rate, simplifying data association. We evaluate the performance of our algorithm on an autonomous car at the MCity Test Facility using a Velodyne HDL-32E, and we compare our results against the state-of-theart NARF keypoint detector. © 2016 IEEE

Design and realization of precise indoor localization mechanism for Wi-Fi devices

Despite the abundant literature in the field, there is still the need to find a time-efficient, highly accurate, easy to deploy and robust localization algorithm for real use. The algorithm only involves minimal human intervention. We propose an enhanced Received Signal Strength Indicator (RSSI) based positioning algorithm for Wi-Fi capable devices, called the Dynamic Weighted Evolution for Location Tracking (DWELT). Due to the multiple phenomena affecting the propagation of radio signals, RSSI measurements show fluctuations that hinder the utilization of straightforward positioning mechanisms from widely known propagation loss models. Instead, DWELT uses data processing of raw RSSI values and applies a weighted posterior-probabilistic evolution for quick convergence of localization and tracking. In this paper, we present the first implementation of DWELT, intended for 1D location (applicable to tunnels or corridors), and the first step towards a more generic implementation. Simulations and experiments show an accuracy of 1m in more than 81% of the cases, and less than 2m in the 95%.Peer ReviewedPostprint (published version