Off-line evaluation of indoor positioning systems in different scenarios: the experiences from IPIN 2020 competition

Every year, for ten years now, the IPIN competition has aimed at evaluating real-world indoor localisation systems by testing them in a realistic environment, with realistic movement, using the EvAAL framework. The competition provided a unique overview of the state-of-the-art of systems, technologies, and methods for indoor positioning and navigation purposes. Through fair comparison of the performance achieved by each system, the competition was able to identify the most promising approaches and to pinpoint the most critical working conditions. In 2020, the competition included 5 diverse off-site off-site Tracks, each resembling real use cases and challenges for indoor positioning. The results in terms of participation and accuracy of the proposed systems have been encouraging. The best performing competitors obtained a third quartile of error of 1 m for the Smartphone Track and 0.5 m for the Foot-mounted IMU Track. While not running on physical systems, but only as algorithms, these results represent impressive achievements.Track 3 organizers were supported by the European Union’s Horizon 2020 Research and Innovation programme under the Marie Skłodowska Curie Grant 813278 (A-WEAR: A network for dynamic WEarable Applications with pRivacy constraints), MICROCEBUS (MICINN, ref. RTI2018-095168-B-C55, MCIU/AEI/FEDER UE), INSIGNIA (MICINN ref. PTQ2018-009981), and REPNIN+ (MICINN, ref. TEC2017-90808-REDT). We would like to thanks the UJI’s Library managers and employees for their support while collecting the required datasets for Track 3. Track 5 organizers were supported by JST-OPERA Program, Japan, under Grant JPMJOP1612. Track 7 organizers were supported by the Bavarian Ministry for Economic Affairs, Infrastructure, Transport and Technology through the Center for Analytics-Data-Applications (ADA-Center) within the framework of “BAYERN DIGITAL II. ” Team UMinho (Track 3) was supported by FCT—Fundação para a Ciência e Tecnologia within the R&D Units Project Scope under Grant UIDB/00319/2020, and the Ph.D. Fellowship under Grant PD/BD/137401/2018. Team YAI (Track 3) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 109-2221-E-197-026. Team Indora (Track 3) was supported in part by the Slovak Grant Agency, Ministry of Education and Academy of Science, Slovakia, under Grant 1/0177/21, and in part by the Slovak Research and Development Agency under Contract APVV-15-0091. Team TJU (Track 3) was supported in part by the National Natural Science Foundation of China under Grant 61771338 and in part by the Tianjin Research Funding under Grant 18ZXRHSY00190. Team Next-Newbie Reckoners (Track 3) were supported by the Singapore Government through the Industry Alignment Fund—Industry Collaboration Projects Grant. This research was conducted at Singtel Cognitive and Artificial Intelligence Lab for Enterprises (SCALE@NTU), which is a collaboration between Singapore Telecommunications Limited (Singtel) and Nanyang Technological University (NTU). Team KawaguchiLab (Track 5) was supported by JSPS KAKENHI under Grant JP17H01762. Team WHU&AutoNavi (Track 6) was supported by the National Key Research and Development Program of China under Grant 2016YFB0502202. Team YAI (Tracks 6 and 7) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 110-2634-F-155-001

Off-Line Evaluation of Indoor Positioning Systems in Different Scenarios: The Experiences From IPIN 2020 Competition

Every year, for ten years now, the IPIN competition has aimed at evaluating real-world indoor localisation systems by testing them in a realistic environment, with realistic movement, using the EvAAL framework. The competition provided a unique overview of the state-of-the-art of systems, technologies, and methods for indoor positioning and navigation purposes. Through fair comparison of the performance achieved by each system, the competition was able to identify the most promising approaches and to pinpoint the most critical working conditions. In 2020, the competition included 5 diverse off-site off-site Tracks, each resembling real use cases and challenges for indoor positioning. The results in terms of participation and accuracy of the proposed systems have been encouraging. The best performing competitors obtained a third quartile of error of 1 m for the Smartphone Track and 0.5 m for the Foot-mounted IMU Track. While not running on physical systems, but only as algorithms, these results represent impressive achievements.Track 3 organizers were supported by the European Union’s Horizon 2020 Research and Innovation programme under the Marie Skłodowska Curie Grant 813278 (A-WEAR: A network for dynamic WEarable Applications with pRivacy constraints), MICROCEBUS (MICINN, ref. RTI2018-095168-B-C55, MCIU/AEI/FEDER UE), INSIGNIA (MICINN ref. PTQ2018-009981), and REPNIN+ (MICINN, ref. TEC2017-90808-REDT). We would like to thanks the UJI’s Library managers and employees for their support while collecting the required datasets for Track 3. Track 5 organizers were supported by JST-OPERA Program, Japan, under Grant JPMJOP1612. Track 7 organizers were supported by the Bavarian Ministry for Economic Affairs, Infrastructure, Transport and Technology through the Center for Analytics-Data-Applications (ADA-Center) within the framework of “BAYERN DIGITAL II. ” Team UMinho (Track 3) was supported by FCT—Fundação para a Ciência e Tecnologia within the R&D Units Project Scope under Grant UIDB/00319/2020, and the Ph.D. Fellowship under Grant PD/BD/137401/2018. Team YAI (Track 3) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 109-2221-E-197-026. Team Indora (Track 3) was supported in part by the Slovak Grant Agency, Ministry of Education and Academy of Science, Slovakia, under Grant 1/0177/21, and in part by the Slovak Research and Development Agency under Contract APVV-15-0091. Team TJU (Track 3) was supported in part by the National Natural Science Foundation of China under Grant 61771338 and in part by the Tianjin Research Funding under Grant 18ZXRHSY00190. Team Next-Newbie Reckoners (Track 3) were supported by the Singapore Government through the Industry Alignment Fund—Industry Collaboration Projects Grant. This research was conducted at Singtel Cognitive and Artificial Intelligence Lab for Enterprises (SCALE@NTU), which is a collaboration between Singapore Telecommunications Limited (Singtel) and Nanyang Technological University (NTU). Team KawaguchiLab (Track 5) was supported by JSPS KAKENHI under Grant JP17H01762. Team WHU&AutoNavi (Track 6) was supported by the National Key Research and Development Program of China under Grant 2016YFB0502202. Team YAI (Tracks 6 and 7) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 110-2634-F-155-001.Peer reviewe

SingTRACeX: Navigation System to Address Wandering Behavior for Elders and Their Caregivers

The issue of an ever-increasing ageing population has been the increasing burden on caregivers to care for the elderly population. Caring for elders, especially those diagnosed with dementia, can be challenging. People living with dementia (PWD) require extra care and attention from the caregivers due to the associated behaviours that come with dementia. Wandering is a frequent behaviour exhibited by PWD, which can bring about negative outcomes on the PWD as well as increasing the stress of the caregivers. Though many technological solutions exist, they are not widely deployed. This paper introduces a technological framework, bridging the localisation technologies to the needs of elders and caregivers. The aim is to minimise or eliminate the negative outcomes of dementia wandering and to reduce the burden and stress on the caregivers, thus improving overall well-being. In this paper, we study the application, SingTRACeX, features by considering user needs from the field study with 2 focus group discussions (FGD), comprising of 14 professional caregivers and coordinators. The proposed system features Real-time Location Tracking and Indoor Localisation. The location is determined by GPS location from the Sensor module when outdoors, and estimation using data from the WiFi module, and Bluetooth module when indoors. The indoor navigation provided by the Indoor Localisation module uses an A-star search algorithm. This paper could serve as a foundation that can be built upon over time as the needs of elders and caregivers may change over time, as well as the evolution of technology that may bring about new methods to address needs

extendGAN+: Transferable Data Augmentation Framework Using WGAN-GP for Data-Driven Indoor Localisation Model

For indoor localisation, a challenge in data-driven localisation is to ensure sufficient data to train the prediction model to produce a good accuracy. However, for WiFi-based data collection, human effort is still required to capture a large amount of data as the representation Received Signal Strength (RSS) could easily be affected by obstacles and other factors. In this paper, we propose an extendGAN+ pipeline that leverages up-sampling with the Dirichlet distribution to improve location prediction accuracy with small sample sizes, applies transferred WGAN-GP for synthetic data generation, and ensures data quality with a filtering module. The results highlight the effectiveness of the proposed data augmentation method not only by localisation performance but also showcase the variety of RSS patterns it could produce. Benchmarking against the baseline methods such as fingerprint, random forest, and its base dataset with localisation models, extendGAN+ shows improvements of up to 23.47%, 25.35%, and 18.88% respectively. Furthermore, compared to existing GAN+ methods, it reduces training time by a factor of four due to transfer learning and improves performance by 10.13%

Smartphone orientation estimation algorithm combining Kalman filter with gradient descent

Availability and all-in-one functionality of smartphones have become a multipurpose personal tool to improve our daily life. Recent advancements in hardware and accessibility of smartphones have spawn huge potential for assistive healthcare, in particular telerehabilitation. However, using smartphone sensors face certain challenges, in particular, accurate orientation estimation, which is usually less of a problem in specialized motion tracking sensor devices. Drift is one of the challenges. We first propose a simple feedback loop complementary filter (CFF) to reduce the error caused by the integration of the gyroscope's data in the orientation estimation. Next, we propose a new and better orientation estimation algorithm which combines quaternion-based kalman filter with corrector estimates using gradient descent (KFGD). We then evaluate CFF's and KFGD's performance on two early-stage rehabilitation exercises. The results show that CFF is capable of fast motion tracking and confirm that the feedback loop can correct the error caused by the integration of gyroscope data. The KFGD orientation estimation is comparable to XSENS Awinda and has shown itself to be stable than and outperforms CFF. KFGD also outperforms the prominent Madgwick algorithm using mobile data. Thus, KFGD is suitable for low-cost motion sensors or mobile inertial sensors, especially during early recovery stage of sport injuries and exercise for the elderly

Off-line evaluation of indoor positioning systems in different scenarios: the experiences from IPIN 2020 competition

Every year, for ten years now, the IPIN competition has aimed at evaluating real-world indoor localisation systems by testing them in a realistic environment, with realistic movement, using the EvAAL framework. The competition provided a unique overview of the state-of-the-art of systems, technologies, and methods for indoor positioning and navigation purposes. Through fair comparison of the performance achieved by each system, the competition was able to identify the most promising approaches and to pinpoint the most critical working conditions. In 2020, the competition included 5 diverse off-site off-site Tracks, each resembling real use cases and challenges for indoor positioning. The results in terms of participation and accuracy of the proposed systems have been encouraging. The best performing competitors obtained a third quartile of error of 1 m for the Smartphone Track and 0.5 m for the Foot-mounted IMU Track. While not running on physical systems, but only as algorithms, these results represent impressive achievements