Magnetic field based Indoor positioning using the Bag of Words paradigm

Ponencia presentada en 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 4-7 Oct. 2016In this paper, A Bag of Words based method is presented to test a magnetic field based indoor positioning method. The Indoor positioning problem is solved as a pattern recognition problem, where each reference point is a different class. Feature vectors are constructed using a simplified bag of words methodology allowing user speed invariance. Several well known classifiers have been used to test the proposed method obtaining promising results when recognition the position of the user

Magnetic Field as a Characterization of Wide and Narrow Spaces in a Real Challenging Scenario Using Dynamic Time Warping

Ponencia presentada en 2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 24-27 Sept. 2018This paper presents a study of indoor positioning in public zones of the Parc Taulí Hospital in Sabadell. It is a challenging scenario because: (1) it combines wide spaces with middle sized and narrow spaces; (2) it is a shielded zone where no signals are available, and therefore, no WiFi signal can be used for positioning; and (3) it is not possible to deploy beacons for positioning. The goal of this work is to test whether it is possible to get indoor positioning in a real and challenging scenario by using only the magnetic field. The positioning precision requires to locate the part of the hospital where the user is. The proposed solution defines “virtual corridors” to improve positioning in wide areas. To validate the work, magnetic field data have been recorded from the scenario, using different smartphones and by different persons. The obtained magnetic data curves have been compared by using dynamic time warping distance. Results show that it is possible to characterize every path with the magnetic field. The main contributions of the present paper are: (1) defining “virtual corridors” as a way to position using magnetic field in 2D spaces; and (2) showing that even in wide spaces, like the hall of a hospital, it is possible to find magnetic anomalies linked to positions

Image recognition-based architecture to enhance inclusive mobility of visually impaired people in smart and urban environments

The demographic growth that we have witnessed in recent years, which is expected to increase in the years to come, raises emerging challenges worldwide regarding urban mobility, both in transport and pedestrian movement. The sustainable development of cities is also intrinsically linked to urban planning and mobility strategies. The tasks of navigation and orientation in cities are something that we resort to today with great frequency, especially in unknown cities and places. Current navigation solutions refer to the precision aspect as a big challenge, especially between buildings in city centers. In this paper, we focus on the segment of visually impaired people and how they can obtain information about where they are when, for some reason, they have lost their orientation. Of course, the challenges are different and much more challenging in this situation and with this population segment. GPS, a technique widely used for navigation in outdoor environments, does not have the precision we need or the most beneficial type of content because the information that a visually impaired person needs when lost is not the name of the street or the coordinates but a reference point. Therefore, this paper includes the proposal of a conceptual architecture for outdoor positioning of visually impaired people using the Landmark Positioning approach.5311-8814-F0ED | Sara Maria da Cruz Maia de Oliveira PaivaN/

Multi sensor system for pedestrian tracking and activity recognition in indoor environments

The widespread use of mobile devices and the rise of Global Navigation Satellite Systems (GNSS) have allowed mobile tracking applications to become very popular and valuable in outdoor environments. However, tracking pedestrians in indoor environments with Global Positioning System (GPS)-based schemes is still very challenging. Along with indoor tracking, the ability to recognize pedestrian behavior and activities can lead to considerable growth in location-based applications including pervasive healthcare, leisure and guide services (such as, hospitals, museums, airports, etc.), and emergency services, among the most important ones. This paper presents a system for pedestrian tracking and activity recognition in indoor environments using exclusively common off-the-shelf sensors embedded in smartphones (accelerometer, gyroscope, magnetometer and barometer). The proposed system combines the knowledge found in biomechanical patterns of the human body while accomplishing basic activities, such as walking or climbing stairs up and down, along with identifiable signatures that certain indoor locations (such as turns or elevators) introduce on sensing data. The system was implemented and tested on Android-based mobile phones. The system detects and counts steps with an accuracy of 97% and 96:67% in flat floor and stairs, respectively; detects user changes of direction and altitude with 98:88% and 96:66% accuracy, respectively; and recognizes the proposed human activities with a 95% accuracy. All modules combined lead to a total tracking accuracy of 91:06% in common human motion indoor displacement

Algorithm for Dynamic Fingerprinting Radio Map Creation Using IMU Measurements

While a vast number of location-based services appeared lately, indoor positioning solutions are developed to provide reliable position information in environments where traditionally used satellite-based positioning systems cannot provide access to accurate position estimates. Indoor positioning systems can be based on many technologies; however, radio networks and more precisely Wi-Fi networks seem to attract the attention of a majority of the research teams. The most widely used localization approach used in Wi-Fi-based systems is based on fingerprinting framework. Fingerprinting algorithms, however, require a radio map for position estimation. This paper will describe a solution for dynamic radio map creation, which is aimed to reduce the time required to build a radio map. The proposed solution is using measurements from IMUs (Inertial Measurement Units), which are processed with a particle filter dead reckoning algorithm. Reference points (RPs) generated by the implemented dead reckoning algorithm are then processed by the proposed reference point merging algorithm, in order to optimize the radio map size and merge similar RPs. The proposed solution was tested in a real-world environment and evaluated by the implementation of deterministic fingerprinting positioning algorithms, and the achieved results were compared with results achieved with a static radio map. The achieved results presented in the paper show that positioning algorithms achieved similar accuracy even with a dynamic map with a low density of reference points

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

A Meta-Review of Indoor Positioning Systems

An accurate and reliable Indoor Positioning System (IPS) applicable to most indoor scenarios has been sought for many years. The number of technologies, techniques, and approaches in general used in IPS proposals is remarkable. Such diversity, coupled with the lack of strict and verifiable evaluations, leads to difficulties for appreciating the true value of most proposals. This paper provides a meta-review that performed a comprehensive compilation of 62 survey papers in the area of indoor positioning. The paper provides the reader with an introduction to IPS and the different technologies, techniques, and some methods commonly employed. The introduction is supported by consensus found in the selected surveys and referenced using them. Thus, the meta-review allows the reader to inspect the IPS current state at a glance and serve as a guide for the reader to easily find further details on each technology used in IPS. The analyses of the meta-review contributed with insights on the abundance and academic significance of published IPS proposals using the criterion of the number of citations. Moreover, 75 works are identified as relevant works in the research topic from a selection of about 4000 works cited in the analyzed surveys