3D Passive-Vision-Aided Pedestrian Dead Reckoning for Indoor Positioning

The vision-aided Pedestrian Dead Reckoning (PDR) systems have become increasingly popular, thanks to the ubiquitous mobile phone embedded with several sensors. This is particularly important for indoor use, where other indoor positioning technologies require additional installation or body-attachment of specific sensors. This paper proposes and develops a novel 3D Passive Vision-aided PDR system that uses multiple surveillance cameras and smartphone-based PDR. The proposed system can continuously track users’ movement on different floors by integrating results of inertial navigation and Faster R-CNN-based real-time pedestrian detection, while utilizing existing camera locations and embedded barometers to provide floor/height information to identify user positions in 3D space. This novel system provides a relatively low-cost and user-friendly solution, which requires no modifications to currently available mobile devices and also the existing indoor infrastructures available at many public buildings for the purpose of 3D indoor positioning. This paper shows the case of testing the prototype in a four-floor building, where it can provide the horizontal accuracy of 0.16m and the vertical accuracy of 0.5m. This level of accuracy is even better than required accuracy targeted by several emergency services, including the Federal Communications Commission (FCC). This system is developed for both Android and iOS-running devices

Modelling, synthesis and characterisation of occlusion in videos

Occlusion is one of the most challenging problems in many video processing applications such as surveillance, gait recognition, activity recognition and so on. Attempts have been made to develop algorithms for handling occlusion and evaluate their performance on various datasets. However, these studies are subjective in nature and the datasets are hardly characterised in terms of the level of occlusion, thereby precluding any form of quantitative comparison of performance. This shows a compelling need to design an explicit, unambiguous and quantitative model, which should be able to objectively represent occlusion in a video. This study proposes an occlusion model based on the position and pose uncertainties of the moving subjects in a video. The proposed occlusion model is able to characterise the level of occlusion present in a video. It is also employed to synthetically generate occlusion for walking sequences, thus providing a direction for controlled dataset generation against which human identification algorithms can be tested. Given an input video with a subject moving without any occlusion, a particle swarm optimisation‐based parameter estimation methodology is presented that generates the desired level of occlusion. The proposed approaches have been tested on the TUM‐IITKGP and PETS2010 datasets. Finally, as an application, the occlusion model has been used to generate an occluded gait datasets and the performances of different gait recognition algorithms have been compared under varying levels of occlusion