Deep Learning Methods for Fingerprint-Based Indoor and Outdoor Positioning

Outdoor positioning systems based on the Global Navigation Satellite System have several shortcomings that have deemed their use for indoor positioning impractical. Location fingerprinting, which utilizes machine learning, has emerged as a viable method and solution for indoor positioning due to its simple concept and accurate performance. In the past, shallow learning algorithms were traditionally used in location fingerprinting. Recently, the research community started utilizing deep learning methods for fingerprinting after witnessing the great success and superiority these methods have over traditional/shallow machine learning algorithms. The contribution of this dissertation is fourfold: First, a Convolutional Neural Network (CNN)-based method for localizing a smartwatch indoors using geomagnetic field measurements is presented. The proposed method was tested on real world data in an indoor environment composed of three corridors of different lengths and three rooms of different sizes. Experimental results show a promising location classification accuracy of 97.77% with a mean localization error of 0.14 meter (m). Second, a method that makes use of cellular signals emitting from a serving eNodeB to provide symbolic indoor positioning is presented. The proposed method utilizes Denoising Autoencoders (DAEs) to mitigate the effects of cellular signal loss. The proposed method was evaluated using real-world data collected from two different smartphones inside a representative apartment of eight symbolic spaces. Experimental results verify that the proposed method outperforms conventional symbolic indoor positioning techniques in various performance metrics. Third, an investigation is conducted to determine whether Variational Autoencoders (VAEs) and Conditional Variational Autoencoders (CVAEs) are able to learn the distribution of the minority symbolic spaces, for a highly imbalanced fingerprinting dataset, so as to generate synthetic fingerprints that promote enhancements in a classifier\u27s performance. Experimental results show that this is indeed the case. By using various performance evaluation metrics, the achieved results are compared to those obtained by two state-of-the-art oversampling methods known as Synthetic Minority Oversampling TEchnique (SMOTE) and ADAptive SYNthetic (ADASYN) sampling. Fourth, a novel dataset of outdoor location fingerprints is presented. The proposed dataset, named OutFin, addresses the lack of publicly available datasets that researchers can use to develop, evaluate, and compare fingerprint-based positioning solutions which can constitute a high entry barrier for studies. OutFin is comprised of diverse data types such as WiFi, Bluetooth, and cellular signal strengths, in addition to measurements from various sensors including the magnetometer, accelerometer, gyroscope, barometer, and ambient light sensor. The collection area spanned four dispersed sites with a total of 122 Reference Points (RPs). Before OutFin was made available to the public, several experiments were conducted to validate its technical quality

Multimodal Sensor Data Integration for Indoor Positioning in Ambient-Assisted Living Environments

A reliable Indoor Positioning System (IPS) is a crucial part of the Ambient-Assisted Living (AAL) concept. The use of Wi-Fi fingerprinting techniques to determine the location of the user, based on the Received Signal Strength Indication (RSSI) mapping, avoids the need to deploy a dedicated positioning infrastructure but comes with its own issues. Heterogeneity of devices and RSSI variability in space and time due to environment changing conditions pose a challenge to positioning systems based on this technique. The primary purpose of this research is to examine the viability of leveraging other sensors in aiding the positioning system to provide more accurate predictions. In particular, the experiments presented in this work show that Inertial Motion Units (IMU), which are present by default in smart devices such as smartphones or smartwatches, can increase the performance of Indoor Positioning Systems in AAL environments. Furthermore, this paper assesses a set of techniques to predict the future performance of the positioning system based on the training data, as well as complementary strategies such as data scaling and the use of consecutive Wi-Fi scanning to further improve the reliability of the IPS predictions. This research shows that a robust positioning estimation can be derived from such strategies

Indoor navigation for the visually impaired : enhancements through utilisation of the Internet of Things and deep learning

Wayfinding and navigation are essential aspects of independent living that heavily rely on the sense of vision. Walking in a complex building requires knowing exact location to find a suitable path to the desired destination, avoiding obstacles and monitoring orientation and movement along the route. People who do not have access to sight-dependent information, such as that provided by signage, maps and environmental cues, can encounter challenges in achieving these tasks independently. They can rely on assistance from others or maintain their independence by using assistive technologies and the resources provided by smart environments. Several solutions have adapted technological innovations to combat navigation in an indoor environment over the last few years. However, there remains a significant lack of a complete solution to aid the navigation requirements of visually impaired (VI) people. The use of a single technology cannot provide a solution to fulfil all the navigation difficulties faced. A hybrid solution using Internet of Things (IoT) devices and deep learning techniques to discern the patterns of an indoor environment may help VI people gain confidence to travel independently. This thesis aims to improve the independence and enhance the journey of VI people in an indoor setting with the proposed framework, using a smartphone. The thesis proposes a novel framework, Indoor-Nav, to provide a VI-friendly path to avoid obstacles and predict the user s position. The components include Ortho-PATH, Blue Dot for VI People (BVIP), and a deep learning-based indoor positioning model. The work establishes a novel collision-free pathfinding algorithm, Orth-PATH, to generate a VI-friendly path via sensing a grid-based indoor space. Further, to ensure correct movement, with the use of beacons and a smartphone, BVIP monitors the movements and relative position of the moving user. In dark areas without external devices, the research tests the feasibility of using sensory information from a smartphone with a pre-trained regression-based deep learning model to predict the user s absolute position. The work accomplishes a diverse range of simulations and experiments to confirm the performance and effectiveness of the proposed framework and its components. The results show that Indoor-Nav is the first type of pathfinding algorithm to provide a novel path to reflect the needs of VI people. The approach designs a path alongside walls, avoiding obstacles, and this research benchmarks the approach with other popular pathfinding algorithms. Further, this research develops a smartphone-based application to test the trajectories of a moving user in an indoor environment

Estimation of Indoor Location Through Magnetic Field Data: An Approach Based On Convolutional Neural Networks

Estimation of indoor location represents an interesting research topic since it is a main contextual variable for location bases services (LBS), eHealth applications and commercial systems, among others. For instance, hospitals require location data of their employees, as well as the location of their patients to offer services based on these locations at the correct moments of their needs. Several approaches have been proposed to tackle this problem using different types of artificial or natural signals (ie, wifi, bluetooth, rfid, sound, movement, etc.). In this work, it is proposed the development of an indoor location estimator system, relying in the data provided by the magnetic field of the rooms, which has been demonstrated that is unique and quasi-stationary. For this purpose, it is analyzed the spectral evolution of the magnetic field data viewed as a bidimensional heatmap, avoiding temporal dependencies. A Fourier transform is applied to the bidimensional heatmap of the magnetic field data to feed a convolutional neural network (CNN) to generate a model to estimate the user’s location in a building. The evaluation of the CNN model to deploy an indoor location system (ILS) is done through measuring the Receiver Operating Characteristic (ROC) curve to observe the behavior in terms of sensitivity and specificity. Our experiments achieve a 0.99 Area Under the Curve (AUC) in the training data-set and a 0.74 in a total blind data set.Estimation of indoor location represents an interesting research topic since it is a main contextual variable for location bases services (LBS), eHealth applications and commercial systems, among others. For instance, hospitals require location data of their employees, as well as the location of their patients to offer services based on these locations at the correct moments of their needs. Several approaches have been proposed to tackle this problem using different types of artificial or natural signals (ie, wifi, bluetooth, rfid, sound, movement, etc.). In this work, it is proposed the development of an indoor location estimator system, relying in the data provided by the magnetic field of the rooms, which has been demonstrated that is unique and quasi-stationary. For this purpose, it is analyzed the spectral evolution of the magnetic field data viewed as a bidimensional heatmap, avoiding temporal dependencies. A Fourier transform is applied to the bidimensional heatmap of the magnetic field data to feed a convolutional neural network (CNN) to generate a model to estimate the user’s location in a building. The evaluation of the CNN model to deploy an indoor location system (ILS) is done through measuring the Receiver Operating Characteristic (ROC) curve to observe the behavior in terms of sensitivity and specificity. Our experiments achieve a 0.99 Area Under the Curve (AUC) in the training data-set and a 0.74 in a total blind data set

Survey of Machine Learning Methods Applied to Urban Mobility

To increase the sustainability in urban mobility, it is necessary to optimally combine public and shared vehicles throughout a passenger's trip. In this work, we present a survey on urban mobility based on passengers' data and machine learning methods. We focus on four applications for urban mobility: public datasets, passenger localization, detection of the transport mode and pattern recognition and generation of mobility models. Public datasets lack data of multimodal trips and are in need of guidelines to facilitate the data collection and documentation processes. Passenger localization is predominantly done through fingerprinting in indoor environments; and fingerprinting relies on unsupervised learning to survey access points. The most common mean of transport detected is the bus, followed by walking and biking, while e-scooters are not included within the detected transport modes. The existing works focus on predicting the travel time of the passenger's trajectory and no machine learning method stands out to estimate the travel time. There is still a need for works that analyze how passengers make use of the urban infrastructure, which will support municipalities and transport mode operators in resource planning and service design

Indoor Positioning and Navigation

In recent years, rapid development in robotics, mobile, and communication technologies has encouraged many studies in the field of localization and navigation in indoor environments. An accurate localization system that can operate in an indoor environment has considerable practical value, because it can be built into autonomous mobile systems or a personal navigation system on a smartphone for guiding people through airports, shopping malls, museums and other public institutions, etc. Such a system would be particularly useful for blind people. Modern smartphones are equipped with numerous sensors (such as inertial sensors, cameras, and barometers) and communication modules (such as WiFi, Bluetooth, NFC, LTE/5G, and UWB capabilities), which enable the implementation of various localization algorithms, namely, visual localization, inertial navigation system, and radio localization. For the mapping of indoor environments and localization of autonomous mobile sysems, LIDAR sensors are also frequently used in addition to smartphone sensors. Visual localization and inertial navigation systems are sensitive to external disturbances; therefore, sensor fusion approaches can be used for the implementation of robust localization algorithms. These have to be optimized in order to be computationally efficient, which is essential for real-time processing and low energy consumption on a smartphone or robot