Drift-Free Indoor Navigation Using Simultaneous Localization and Mapping of the Ambient Heterogeneous Magnetic Field

In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend, thus achieving a good balance between exploration and exploitation. Although vision-based systems like laser scanners are typically deployed for SLAM, these sensors are heavy, energy inefficient, and expensive, making them unattractive for wearables or smartphone applications. However, the concept of SLAM can be extended to non-optical systems such as magnetometers. Instead of matching features such as walls and furniture using some variation of the ICP algorithm, the local magnetic field can be matched to provide loop-closure and global trajectory updates in a Gaussian Process (GP) SLAM framework. With a MEMS-based inertial measurement unit providing a continuous trajectory, and the matching of locally distinct magnetic field maps, experimental results in this paper show that a drift-free navigation solution in an indoor environment with millimetre-level accuracy can be achieved. The GP-SLAM approach presented can be formulated as a maximum a posteriori estimation problem and it can naturally perform loop-detection, feature-to-feature distance minimization, global trajectory optimization, and magnetic field map estimation simultaneously. Spatially continuous features (i.e. smooth magnetic field signatures) are used instead of discrete feature correspondences (e.g. point-to-point) as in conventional vision-based SLAM. These position updates from the ambient magnetic field also provide enough information for calibrating the accelerometer and gyroscope bias in-use. The only restriction for this method is the need for magnetic disturbances (which is typically not an issue indoors); however, no assumptions are required for the general motion of the sensor.Comment: ISPRS Workshop Indoor 3D 201

Indoor localisation by using wireless sensor nodes

This study is devoted to investigating and developing WSN based localisation approaches with high position accuracies indoors. The study initially summarises the design and implementation of localisation systems and WSN architecture together with the characteristics of LQI and RSSI values. A fingerprint localisation approach is utilised for indoor positioning applications. A k-nearest neighbourhood algorithm (k-NN) is deployed, using Euclidean distances between the fingerprint database and the object fingerprints, to estimate unknown object positions. Weighted LQI and RSSI values are calculated and the k-NN algorithm with different weights is utilised to improve the position detection accuracy. Different weight functions are investigated with the fingerprint localisation technique. A novel weight function which produced the maximum position accuracy is determined and employed in calculations. The study covered designing and developing the centroid localisation (CL) and weighted centroid localisation (WCL) approaches by using LQI values. A reference node localisation approach is proposed. A star topology of reference nodes are to be utilized and a 3-NN algorithm is employed to determine the nearest reference nodes to the object location. The closest reference nodes are employed to each nearest reference nodes and the object locations are calculated by using the differences between the closest and nearest reference nodes. A neighbourhood weighted localisation approach is proposed between the nearest reference nodes in star topology. Weights between nearest reference nodes are calculated by using Euclidean and physical distances. The physical distances between the object and the nearest reference nodes are calculated and the trigonometric techniques are employed to derive the object coordinates. An environmentally adaptive centroid localisation approach is proposed.Weighted standard deviation (STD) techniques are employed adaptively to estimate the unknown object positions. WSNs with minimum RSSI mean values are considered as reference nodes across the sensing area. The object localisation is carried out in two phases with respect to these reference nodes. Calculated object coordinates are later translated into the universal coordinate system to determine the actual object coordinates. Virtual fingerprint localisation technique is introduced to determine the object locations by using virtual fingerprint database. A physical fingerprint database is organised in the form of virtual database by using LQI distribution functions. Virtual database elements are generated among the physical database elements with linear and exponential distribution functions between the fingerprint points. Localisation procedures are repeated with virtual database and localisation accuracies are improved compared to the basic fingerprint approach. In order to reduce the computation time and effort, segmentation of the sensing area is introduced. Static and dynamic segmentation techniques are deployed. Segments are defined by RSS ranges and the unknown object is localised in one of these segments. Fingerprint techniques are applied only in the relevant segment to find the object location. Finally, graphical user interfaces (GUI) are utilised with application program interfaces (API), in all calculations to visualise unknown object locations indoors

Imaging time series for the classification of EMI discharge sources

In this work, we aim to classify a wider range of Electromagnetic Interference (EMI) discharge sources collected from new power plant sites across multiple assets. This engenders a more complex and challenging classification task. The study involves an investigation and development of new and improved feature extraction and data dimension reduction algorithms based on image processing techniques. The approach is to exploit the Gramian Angular Field technique to map the measured EMI time signals to an image, from which the significant information is extracted while removing redundancy. The image of each discharge type contains a unique fingerprint. Two feature reduction methods called the Local Binary Pattern (LBP) and the Local Phase Quantisation (LPQ) are then used within the mapped images. This provides feature vectors that can be implemented into a Random Forest (RF) classifier. The performance of a previous and the two new proposed methods, on the new database set, is compared in terms of classification accuracy, precision, recall, and F-measure. Results show that the new methods have a higher performance than the previous one, where LBP features achieve the best outcome

A pilot study on discriminative power of features of superficial venous pattern in the hand

The goal of the project is to develop an automatic way to identify, represent the superficial vasculature of the back hand and investigate its discriminative power as biometric feature. A prototype of a system that extracts the superficial venous pattern of infrared images of back hands will be described. Enhancement algorithms are used to solve the lack of contrast of the infrared images. To trace the veins, a vessel tracking technique is applied, obtaining binary masks of the superficial venous tree. Successively, a method to estimate the blood vessels calibre, length, the location and angles of vessel junctions, will be presented. The discriminative power of these features will be studied, independently and simultaneously, considering two features vector. Pattern matching of two vasculature maps will be performed, to investigate the uniqueness of the vessel network / L’obiettivo del progetto è di sviluppare un metodo automatico per identificare e rappresentare la rete vascolare superficiale presente nel dorso della mano ed investigare sul suo potere discriminativo come caratteristica biometrica. Un prototipo di sistema che estrae l’albero superficiale delle vene da immagini infrarosse del dorso della mano sarà descritto. Algoritmi per il miglioramento del contrasto delle immagini infrarosse saranno applicati. Per tracciare le vene, una tecnica di tracking verrà utilizzata per ottenere una maschera binaria della rete vascolare. Successivamente, un metodo per stimare il calibro e la lunghezza dei vasi sanguigni, la posizione e gli angoli delle giunzioni sarà trattato. Il potere discriminativo delle precedenti caratteristiche verrà studiato ed una tecnica di pattern matching di due modelli vascolari sarà presentata per verificare l’unicità di quest

Counterfeit Detection and Prevention in Additive Manufacturing Based on Unique Identification of Optical Fingerprints of Printed Structures

Printed Electronics (PE) based on additive manufacturing has a rapidly growing market. Due to large feature sizes and reduced complexity of PE applications compared to silicon counterparts, they are more prone to counterfeiting. Common solutions to detect counterfeiting insert watermarks or extract unique fingerprints based on (irreproducible) process variations of valid components. Commonly, such fingerprints have been extracted through electrical methods, similar to those of physically unclonable functions (PUFs). Hence, they introduce overhead to the production resulting in additional costs. While such costs may be negligible for application domains targeted by silicon-based technologies, they are detrimental to the ultra-low-cost PE applications. In this paper, we propose an optical unique identification, by extracting fingerprints from the optically visible variations of printed inks in the PE components. The images can be obtained from optical cameras, such as cell phones, thanks to large feature sizes of PE, by trusted parties, such as an end user wanting to verify the authenticity of a particular product. Since this approach does not require any additional circuitry, the fingerprint production cost consists of merely acquisition, processing and saving an image of the circuit components, matching the requirements of ultra-low-cost applications of PE. To further decrease the storage costs for the unique fingerprints, we utilize image downscaling resulting in a compression rate between 83– 188× , while preserving the reliability and uniqueness of the fingerprints. The proposed fingerprint extraction methodology is applied to four datasets and the results show that the optical variation printed inks is suitable to prevent counterfeiting in PE

Optimal intrinsic descriptors for non-rigid shape analysis

We propose novel point descriptors for 3D shapes with the potential to match two shapes representing the same object undergoing natural deformations. These deformations are more general than the often assumed isometries, and we use labeled training data to learn optimal descriptors for such cases. Furthermore, instead of explicitly defining the descriptor, we introduce new Mercer kernels, for which we formally show that their corresponding feature space mapping is a generalization of either the Heat Kernel Signature or the Wave Kernel Signature. I.e. the proposed descriptors are guaranteed to be at least as precise as any Heat Kernel Signature or Wave Kernel Signature of any parameterisation. In experiments, we show that our implicitly defined, infinite-dimensional descriptors can better deal with non-isometric deformations than state-of-the-art methods

Biometric Systems

Biometric authentication has been widely used for access control and security systems over the past few years. The purpose of this book is to provide the readers with life cycle of different biometric authentication systems from their design and development to qualification and final application. The major systems discussed in this book include fingerprint identification, face recognition, iris segmentation and classification, signature verification and other miscellaneous systems which describe management policies of biometrics, reliability measures, pressure based typing and signature verification, bio-chemical systems and behavioral characteristics. In summary, this book provides the students and the researchers with different approaches to develop biometric authentication systems and at the same time includes state-of-the-art approaches in their design and development. The approaches have been thoroughly tested on standard databases and in real world applications

Pattern Recognition

A wealth of advanced pattern recognition algorithms are emerging from the interdiscipline between technologies of effective visual features and the human-brain cognition process. Effective visual features are made possible through the rapid developments in appropriate sensor equipments, novel filter designs, and viable information processing architectures. While the understanding of human-brain cognition process broadens the way in which the computer can perform pattern recognition tasks. The present book is intended to collect representative researches around the globe focusing on low-level vision, filter design, features and image descriptors, data mining and analysis, and biologically inspired algorithms. The 27 chapters coved in this book disclose recent advances and new ideas in promoting the techniques, technology and applications of pattern recognition