Indoor localization using place and motion signatures

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2013.This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from department-submitted PDF version of thesis.Includes bibliographical references (p. 141-153).Most current methods for 802.11-based indoor localization depend on either simple radio propagation models or exhaustive, costly surveys conducted by skilled technicians. These methods are not satisfactory for long-term, large-scale positioning of mobile devices in practice. This thesis describes two approaches to the indoor localization problem, which we formulate as discovering user locations using place and motion signatures. The first approach, organic indoor localization, combines the idea of crowd-sourcing, encouraging end-users to contribute place signatures (location RF fingerprints) in an organic fashion. Based on prior work on organic localization systems, we study algorithmic challenges associated with structuring such organic location systems: the design of localization algorithms suitable for organic localization systems, qualitative and quantitative control of user inputs to "grow" an organic system from the very beginning, and handling the device heterogeneity problem, in which different devices have different RF characteristics. In the second approach, motion compatibility-based indoor localization, we formulate the localization problem as trajectory matching of a user motion sequence onto a prior map. Our method estimates indoor location with respect to a prior map consisting of a set of 2D floor plans linked through horizontal and vertical adjacencies. To enable the localization system, we present a motion classification algorithm that estimates user motions from the sensors available in commodity mobile devices. We also present a route network generation method, which constructs a graph representation of all user routes from legacy floor plans. Given these inputs, our HMM-based trajectory matching algorithm recovers user trajectories. The main contribution is the notion of path compatibility, in which the sequential output of a classifier of inertial data producing low-level motion estimates (standing still, walking straight, going upstairs, turning left etc.) is examined for metric/topological/semantic agreement with the prior map. We show that, using only proprioceptive data of the quality typically available on a modern smartphone, our method can recover the user's location to within several meters in one to two minutes after a "cold start."by Jun-geun Park.Ph.D

Crowdsourcing-Based Fingerprinting for Indoor Location in Multi-Storey Buildings

POCI-01-0247-FEDER-033479The number of available indoor location solutions has been growing, however with insufficient precision, high implementation costs or scalability limitations. As fingerprinting-based methods rely on ubiquitous information in buildings, the need for additional infrastructure is discarded. Still, the time-consuming manual process to acquire fingerprints limits their applicability in most scenarios. This paper proposes an algorithm for the automatic construction of environmental fingerprints on multi-storey buildings, leveraging the information sources available in each scenario. It relies on unlabelled crowdsourced data from users’ smartphones. With only the floor plans as input, a demand for most applications, we apply a multimodal approach that joins inertial data, local magnetic field andWi-Fi signals to construct highly accurate fingerprints. Precise movement estimation is achieved regardless of smartphone usage through Deep Neural Networks, and the transition between floors detected from barometric data. Users’ trajectories obtained with Pedestrian Dead Reckoning techniques are partitioned into clusters with Wi-Fi measurements. Straight sections from the same cluster are then compared with subsequence Dynamic Time Warping to search for similarities. From the identified overlapping sections, a particle filter fits each trajectory into the building’s floor plans. From all successfully mapped routes, fingerprints labelled with physical locations are finally obtained. Experimental results from an office and a university building show that this solution constructs comparable fingerprints to those acquired manually, thus providing a useful tool for fingerprinting-based solutions automatic setup.publishersversionpublishe

Surface Modeling and Analysis Using Range Images: Smoothing, Registration, Integration, and Segmentation

This dissertation presents a framework for 3D reconstruction and scene analysis, using a set of range images. The motivation for developing this framework came from the needs to reconstruct the surfaces of small mechanical parts in reverse engineering tasks, build a virtual environment of indoor and outdoor scenes, and understand 3D images. The input of the framework is a set of range images of an object or a scene captured by range scanners. The output is a triangulated surface that can be segmented into meaningful parts. A textured surface can be reconstructed if color images are provided. The framework consists of surface smoothing, registration, integration, and segmentation. Surface smoothing eliminates the noise present in raw measurements from range scanners. This research proposes area-decreasing flow that is theoretically identical to the mean curvature flow. Using area-decreasing flow, there is no need to estimate the curvature value and an optimal step size of the flow can be obtained. Crease edges and sharp corners are preserved by an adaptive scheme. Surface registration aligns measurements from different viewpoints in a common coordinate system. This research proposes a new surface representation scheme named point fingerprint. Surfaces are registered by finding corresponding point pairs in an overlapping region based on fingerprint comparison. Surface integration merges registered surface patches into a whole surface. This research employs an implicit surface-based integration technique. The proposed algorithm can generate watertight models by space carving or filling the holes based on volumetric interpolation. Textures from different views are integrated inside a volumetric grid. Surface segmentation is useful to decompose CAD models in reverse engineering tasks and help object recognition in a 3D scene. This research proposes a watershed-based surface mesh segmentation approach. The new algorithm accurately segments the plateaus by geodesic erosion using fast marching method. The performance of the framework is presented using both synthetic and real world data from different range scanners. The dissertation concludes by summarizing the development of the framework and then suggests future research topics

System of Terrain Analysis, Energy Estimation and Path Planning for Planetary Exploration by Robot Teams

NASA’s long term plans involve a return to manned moon missions, and eventually sending humans to mars. The focus of this project is the use of autonomous mobile robotics to enhance these endeavors. This research details the creation of a system of terrain classification, energy of traversal estimation and low cost path planning for teams of inexpensive and potentially expendable robots. The first stage of this project was the creation of a model which estimates the energy requirements of the traversal of varying terrain types for a six wheel rocker-bogie rover. The wheel/soil interaction model uses Shibly’s modified Bekker equations and incorporates a new simplified rocker-bogie model for estimating wheel loads. In all but a single trial the relative energy requirements for each soil type were correctly predicted by the model. A path planner for complete coverage intended to minimize energy consumption was designed and tested. It accepts as input terrain maps detailing the energy consumption required to move to each adjacent location. Exploration is performed via a cost function which determines the robot’s next move. This system was successfully tested for multiple robots by means of a shared exploration map. At peak efficiency, the energy consumed by our path planner was only 56% that used by the best case back and forth coverage pattern. After performing a sensitivity analysis of Shibly’s equations to determine which soil parameters most affected energy consumption, a neural network terrain classifier was designed and tested. The terrain classifier defines all traversable terrain as one of three soil types and then assigns an assumed set of soil parameters. The classifier performed well over all, but had some difficulty distinguishing large rocks from sand. This work presents a system which successfully classifies terrain imagery into one of three soil types, assesses the energy requirements of terrain traversal for these soil types and plans efficient paths of complete coverage for the imaged area. While there are further efforts that can be made in all areas, the work achieves its stated goals

Comparing Terrestrial Laser Scanning (TLS) and Wearable Laser Scanning (WLS) for Individual Tree Modeling at Plot Level

54 p.This study presents a comparison between the use of wearable laser scanning (WLS) and terrestrial laser scanning (TLS) devices for automatic tree detection with an estimation of two dendrometric variables: diameter at breast height (DBH) and total tree height (TH). Operative processes for data collection and automatic forest inventory are described in detail. The approach used is based on the clustering of points belonging to each individual tree, the isolation of the trunks, the iterative fitting of circles for the DBH calculation and the computation of the TH of each tree. TLS and WLS point clouds were compared by the statistical analysis of both estimated forest dendrometric parameters and the possible presence of bias. Results show that the apparent differences in point density and relative precision between both 3D forest models do not affect tree detection and DBH estimation. Nevertheless, tree height estimation using WLS appears to be affected by the limited scanning range of the WLS used in this study. TH estimations for trees below a certain height are equivalent using WLS or TLS, whereas TH of taller trees is clearly underestimated using WLSS

FACE CLASSIFICATION FOR AUTHENTICATION APPROACH BY USING WAVELET TRANSFORM AND STATISTICAL FEATURES SELECTION

This thesis consists of three parts: face localization, features selection and classification process. Three methods were proposed to locate the face region in the input image. Two of them based on pattern (template) Matching Approach, and the other based on clustering approach. Five datasets of faces namely: YALE database, MIT-CBCL database, Indian database, BioID database and Caltech database were used to evaluate the proposed methods. For the first method, the template image is prepared previously by using a set of faces. Later, the input image is enhanced by applying n-means kernel to decrease the image noise. Then Normalized Correlation (NC) is used to measure the correlation coefficients between the template image and the input image regions. For the second method, instead of using n-means kernel, an optimized metrics are used to measure the difference between the template image and the input image regions. In the last method, the Modified K-Means Algorithm was used to remove the non-face regions in the input image. The above-mentioned three methods showed accuracy of localization between 98% and 100% comparing with the existed methods. In the second part of the thesis, Discrete Wavelet Transform (DWT) utilized to transform the input image into number of wavelet coefficients. Then, the coefficients of weak statistical energy less than certain threshold were removed, and resulted in decreasing the primary wavelet coefficients number up to 98% out of the total coefficients. Later, only 40% statistical features were extracted from the hight energy features by using the variance modified metric. During the experimental (ORL) Dataset was used to test the proposed statistical method. Finally, Cluster-K-Nearest Neighbor (C-K-NN) was proposed to classify the input face based on the training faces images. The results showed a significant improvement of 99.39% in the ORL dataset and 100% in the Face94 dataset classification accuracy. Moreover, a new metrics were introduced to quantify the exactness of classification and some errors of the classification can be corrected. All the above experiments were implemented in MATLAB environment

Analysis and development of self localization and autonomous driving systems for the industrial and automotive environment.

The goal of the present thesis is dual. First the self localization problem is investigated in the industrial environment and a working prototype, consisting in an AGV able to perform self localization and autonomous driving under certain conditions, has been developed. Then the self localization problem is considered as a part of wider and currently very active research problem: the Simultaneous Localization And Mapping (SLAM), considered in the automotive environment.L'obiettivo della presente Tesi è duplice. Inizialmente il problema della self localization viene analizzato nel contesto industriale e un prototipo funzionante è stato realizzato, consistente in un AGV in grado di auto localizzarsi in certe condizioni. In seguito il problema della self localization è stato considerato come parte di un problema più ampio e ad oggi particolarmente: il Simultaneous Localization And Mapping (SLAM), nel contesto automobilistico

Mapping in urban environment for autonomous vehicle

Ph.DDOCTOR OF PHILOSOPH

FACE CLASSIFICATION FOR AUTHENTICATION APPROACH BY USING WAVELET TRANSFORM AND STATISTICAL FEATURES SELECTION

This thesis consists of three parts: face localization, features selection and classification process. Three methods were proposed to locate the face region in the input image. Two of them based on pattern (template) Matching Approach, and the other based on clustering approach. Five datasets of faces namely: YALE database, MIT-CBCL database, Indian database, BioID database and Caltech database were used to evaluate the proposed methods. For the first method, the template image is prepared previously by using a set of faces. Later, the input image is enhanced by applying n-means kernel to decrease the image noise. Then Normalized Correlation (NC) is used to measure the correlation coefficients between the template image and the input image regions. For the second method, instead of using n-means kernel, an optimized metrics are used to measure the difference between the template image and the input image regions. In the last method, the Modified K-Means Algorithm was used to remove the non-face regions in the input image. The above-mentioned three methods showed accuracy of localization between 98% and 100% comparing with the existed methods. In the second part of the thesis, Discrete Wavelet Transform (DWT) utilized to transform the input image into number of wavelet coefficients. Then, the coefficients of weak statistical energy less than certain threshold were removed, and resulted in decreasing the primary wavelet coefficients number up to 98% out of the total coefficients. Later, only 40% statistical features were extracted from the hight energy features by using the variance modified metric. During the experimental (ORL) Dataset was used to test the proposed statistical method. Finally, Cluster-K-Nearest Neighbor (C-K-NN) was proposed to classify the input face based on the training faces images. The results showed a significant improvement of 99.39% in the ORL dataset and 100% in the Face94 dataset classification accuracy. Moreover, a new metrics were introduced to quantify the exactness of classification and some errors of the classification can be corrected. All the above experiments were implemented in MATLAB environment