Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

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Evaluating indoor positioning systems in a shopping mall : the lessons learned from the IPIN 2018 competition

The Indoor Positioning and Indoor Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. The objective of this competition is to establish a systematic evaluation methodology with rigorous metrics both for real-time (on-site) and post-processing (off-site) situations, in a realistic environment unfamiliar to the prototype developers. For the IPIN 2018 conference, this competition was held on September 22nd, 2018, in Atlantis, a large shopping mall in Nantes (France). Four competition tracks (two on-site and two off-site) were designed. They consisted of several 1 km routes traversing several floors of the mall. Along these paths, 180 points were topographically surveyed with a 10 cm accuracy, to serve as ground truth landmarks, combining theodolite measurements, differential global navigation satellite system (GNSS) and 3D scanner systems. 34 teams effectively competed. The accuracy score corresponds to the third quartile (75th percentile) of an error metric that combines the horizontal positioning error and the floor detection. The best results for the on-site tracks showed an accuracy score of 11.70 m (Track 1) and 5.50 m (Track 2), while the best results for the off-site tracks showed an accuracy score of 0.90 m (Track 3) and 1.30 m (Track 4). These results showed that it is possible to obtain high accuracy indoor positioning solutions in large, realistic environments using wearable light-weight sensors without deploying any beacon. This paper describes the organization work of the tracks, analyzes the methodology used to quantify the results, reviews the lessons learned from the competition and discusses its future

A high resolution spatiotemporal model for in-vehicle black carbon exposure : quantifying the in-vehicle exposure reduction due to the Euro 5 particulate matter standard legislation

Several studies have shown that a significant amount of daily air pollution exposure is inhaled during trips. In this study, car drivers assessed their own black carbon exposure under real-life conditions (223 h of data from 2013). The spatiotemporal exposure of the car drivers is modeled using a data science approach, referred to as microscopic land-use regression (mu LUR). In-vehicle exposure is highly dynamical and is strongly related to the local traffic dynamics. An extensive set of potential covariates was used to model the in-vehicle black carbon exposure in a temporal resolution of 10 s. Traffic was retrieved directly from traffic databases and indirectly by attributing the trips through a noise map as an alternative traffic source. Modeling by generalized additive models (GAM) shows non-linear effects for meteorology and diurnal traffic patterns. A fitted diurnal pattern explains indirectly the complex diurnal variability of the exposure due to the non-linear interaction between traffic density and distance to the preceding vehicles. Comparing the strength of direct traffic attribution and indirect noise map-based traffic attribution reveals the potential of noise maps as a proxy for traffic-related air pollution exposure. An external validation, based on a dataset gathered in 2010-2011, quantifies the exposure reduction inside the vehicles at 33% (mean) and 50% (median). The EU PM Euro 5 PM emission standard (in force since 2009) explains the largest part of the discrepancy between the measurement campaign in 2013 and the validation dataset. The mu LUR methodology provides a high resolution, route-sensitive, seasonal and meteorology-sensitive personal exposure estimate for epidemiologists and policy makers