基于智能手机无线信号和图像距离感知融合的室内定位算法

针对于目前面向个人使用的手机室内定位精度低、效果差,且成本较高难以拓展的问题,提出了一种利用普通智能手机作为硬件设备,融合Wi-Fi无线信号和图像数据,通过双层过滤的方式对用户进行高精度室内定位的算法。算法分为线下阶段和线上阶段。在线下阶段,对目标场地建立坐标系,在坐标系多个目标位置进行Wi-Fi采样并建立指纹库,同时对环境进行拍照取样并抽取图像特征。在线上阶段,通过实时获取的Wi-Fi信息进行第一层过滤,以确定当前用户可能的位置区间;然后,结合提出的一种距离补偿算法对用户手机当前捕获的图像进行特征提取,在第一层过滤的基础上,确定用户的精准位置。在实际场地进行的实验表明,相比传统Wi-Fi及二维图像定位方法,该算法能够在探测接入点（AP）数量较少及室内场景相似的情况下提高室内定位精度,可以应用于一般室内定位应用或结合基于位置的服务（LBS）应用。     

A smartphone-based multimodal indoor tracking system

The great popularity of smartphones, together with the increasingly important aim of providing context-aware services, has spurred interest in developing indoor tracking systems. Accurate tracking and localization systems are seen as key services for most context-aware applications. Research projects making use of radio signals detected by radio interfaces and the data captured by sensors commonly integrated in most smartphones have already shown promising and better results than location solutions based on a single data source. In this paper, we present a multi-sensor tracking system built by incrementally integrating state-of-the-art models of the Wi-Fi interface and the accelerometer, gyroscope and magnetometer sensors of a smartphone. Our proposal consists of a simple calibration phase of the tracking system, which involves enabling simultaneous data gathering from all three sensors and the Wi-Fi interface. Taking the Wi-Fi signal model as baseline, four different configurations are evaluated by incrementally adding and integrating the models of the other three sensors. The experimental results reveal a mean error accuracy of 60 cm in the case when the tracking system makes use of all four data sources. Our results also include a spatial characterization of the accuracy and processing power requirements of the proposed solution. Our main findings demonstrate the feasibility of developing accurate localization indoor tracking systems using current smartphones without the need for additional hardware.     

ISR: indoor shop recognition via user-friendly and efficient fingerprinting on smartphones

Indoor shop recognition can not only help mobile users to quickly recognize a shop to know about the information of interest without needing to enter the shop, but also assist in achieving more accurate user localization in a shopping mall. However, the existing Wi-Fi fingerprint-based approaches or image-based approaches cannot accomplish this goal well due to a huge cost of constructing large-scale fingerprint database and poor accuracy. In order to address these issues, we proposed a user-friendly and efficient fingerprinting method to collect various valuable sensory data with smartphones, which can not only reduce the randomness of fingerprints and the negative impact of pedestrians in image matching, but also be used to derive the user-to-shop distance based on the perspective projection model for assisting in determining an accurate fingerprint searching scope. We also proposed an efficient fingerprint searching and matching method to improve the recognition accuracy. We implemented a prototype system and collected fingerprint datasets in a shopping mall. Extensive experiments demonstrate that our solution achieves promising results in realistic scenarios.     

iFrame: Dynamic indoor map construction through automatic mobile sensing

Many pervasive computing applications depend upon maps for support of location based services. Individuals can determine their location outdoors on these maps via GPS. Indoor pervasive applications may also need to know the layout of buildings, however indoor maps are less prevalent. This paper presents iFrame, a dynamic approach that leverages existing mobile sensing capabilities for constructing indoor floor plans. We explore how iFrame users may collaborate and contribute to constructing 2-dimensional indoor maps by merely carrying smartphones. A deployment study shows iFrame is an unattended approach that provides a skeleton map of a real building effectively and automatically.     

Multi-agent location system in wireless networks

In this paper we propose a flexible Multi-Agent Architecture together with a methodology for indoor location which allows us to locate any mobile station (MS) such as a Laptop, Smartphone, Tablet or a robotic system in an indoor environment using wireless technology. Our technology is complementary to the GPS location finder as it allows us to locate a mobile system in a specific room on a specific floor using the Wi-Fi networks.The idea is that any MS will have an agent known at a Fuzzy Location Software Agent (FLSA) with a minimum capacity processing at its disposal which collects the power received at different Access Points distributed around the floor and establish its location on a plan of the floor of the building. In order to do so it will have to communicate with the Fuzzy Location Manager Software Agent (FLMSA). The FLMSAs are local agents that form part of the management infrastructure of the Wi-Fi network of the Organization.The FLMSA implements a location estimation methodology divided into three phases (measurement, calibration and estimation) for locating mobile stations (MS). Our solution is a fingerprint-based positioning system that overcomes the problem of the relative effect of doors and walls on signal strength and is independent of the network device manufacturer.In the measurement phase, our system collects received signal strength indicator (RSSI) measurements from multiple access points. In the calibration phase, our system uses these measurements in a normalization process to create a radio map, a database of RSS patterns. Unlike traditional radio map-based methods, our methodology normalizes RSS measurements collected at different locations on a floor. In the third phase, we use Fuzzy Controllers to locate an MS on the plan of the floor of a building.Experimental results demonstrate the accuracy of the proposed method. From these results it is clear that the system is highly likely to be able to locate an MS in a room or adjacent room.     

Smartphone-based Wi-Fi tracking system exploiting the RSS peak to overcome the RSS variance problem

The Wi-Fi fingerprinting (WF) technique normally suffers from the Received Signal Strength (RSS) variance problem caused by environmental changes that are inherent in both the training and localization phases. Several calibration algorithms have been proposed but they only focus on the hardware variance problem. Moreover, smartphones were not evaluated and these are now widely used in WF systems. In this paper, we analyzed various aspects of the RSS variance problem when using smartphones for WF: device type, device placement, user direction, and environmental changes over time. To overcome the RSS variance problem, we also propose a smartphone-based, indoor pedestrian-tracking system. The scheme uses the location where the maximum RSS is observed, which is preserved even though RSS varies significantly. We experimentally validate that the proposed system is tolerant to the RSS variance problem.     

A contour tracing and coding algorithm for generating 2D contour codes from 3D classified objects

In 3D image data sets generated by voxel-based classification, each voxel is marked with a specific class label. Voxels of the same class label can form 3D objects of extremely complex shape. Interactively drawn regions are usually represented by their 2D region borders. In order to combine automatically classified with interactively drawn regions, a contour tracing and coding algorithm for generating optimized 2D contours from 3D classified objects is presented. A special conversion algorithm allows a chain or a crack code representation. An application to medical images shows the method's necessity and usefulness in dealing with highly complex regions.     

Building 3D semantic maps for mobile robots using RGB-D camera

The wide availability of affordable RGB-D sensors changes the landscape of indoor scene analysis. Years of research on simultaneous localization and mapping (SLAM) have made it possible to merge multiple RGB-D images into a single point cloud and provide a 3D model for a complete indoor scene. However, these reconstructed models only have geometry information, not including semantic knowledge. The advancements in robot autonomy and capabilities for carrying out more complex tasks in unstructured environments can be greatly enhanced by endowing environment models with semantic knowledge. Towards this goal, we propose a novel approach to generate 3D semantic maps for an indoor scene. Our approach creates a 3D reconstructed map from a RGB-D image sequence firstly, then we jointly infer the semantic object category and structural class for each point of the global map. 12 object categories (e.g. walls, tables, chairs) and 4 structural classes (ground, structure, furniture and props) are labeled in the global map. In this way, we can totally understand both the object and structure information. In order to get semantic information, we compute semantic segmentation for each RGB-D image and merge the labeling results by a Dense Conditional Random Field. Different from previous techniques, we use temporal information and higher-order cliques to enforce the label consistency for each image labeling result. Our experiments demonstrate that temporal information and higher-order cliques are significant for the semantic mapping procedure and can improve the precision of the semantic mapping results.     

基于Wi-Vi指纹的智能手机室内定位方法

室内定位是近些年国内外研究的热点,但是目前的室内定位技术在适用性、稳定性和推广性方面仍然存在诸多问题.针对目前室内定位技术的不足,面向公共室内场景的人员自定位问题,本文创新性地提出以室内广泛存在、均匀分布的消防安全出口标志为路标(Landmark),提出以Wi-Vi指纹-WiFi与视觉(Vision)信息相融合的指纹,为位置表征的多尺度定位方法.该方法首先利用室内广泛存在的WiFi无线信号进行粗定位,缩小定位范围;然后在WiFi定位的基础上通过视觉全局和局部特征匹配实现图像级定位和验证;最后参考消防安全出口标志的空间坐标精确计算用户的位置信息.实验中,通过市面上流行的不同型号智能手机在12 000平米办公楼和4万平米商场分别进行实地定位测试.测试结果表明:该方法可以达到实时定位的要求,图像级定位准确率均在97%以上,平均定位误差均在0.5米以下.本文所提出的基于Wi-Vi指纹智能手机定位方法为高精度室内定位问题建议了一种新的解决思路.     

基于Wi-Fi和自适应蒙特卡洛的移动机器人定位方法的研究

提出一种基于Wi-Fi和自适应蒙特卡洛的移动机器人定位方法。通过对实验环境中Wi-Fi信号的分布进行测试和分析,利用Wi-Fi信号强度的三角定位法,在ROS平台上实现Wi-Fi-AMCL室内初始化定位系统。对该方法和传统定位方法设计实验进行比较,结果表明前者不仅可以有效加快粒子的收敛速度、缩短机器人的定位时间,而且在一定限度上提高了机器人的初始化定位精度,改善了定位效果。     

The impact of goods-classification and landmarks for spatial knowledge and goods-finding in the elderly within a 3D virtual store

Online shopping has become quite popular since its first arrival on the internet. Although numerous studies have been performed to investigate various issues related to the internet store, some research issues relating to the spatial cognition of the elderly (the fastest growing internet group) when exploring a 3D virtual store still await further empirical investigation. The objective of this study was to examine how elderly users acquire spatial knowledge in an on-screen virtual store. Specifically, the impact of different types of landmarks on the acquisition of spatial knowledge was examined. In addition, in this study, goods-classification was seen as an implicit landmark associated with the acquisition of spatial knowledge. Therefore, it is worth observing the impact during the location of the goods and examining the combined effect with landmarks. The experimental results indicated that landmarks are important for the elderly as they attempt to locate goods within a 3D virtual store, no matter what types are used. However, landmarks are not the only resources for constructing spatial knowledge in a 3D virtual store; the classification of goods is also a good resource and may be more important than landmarks. In addition, the combined effect of goods-classification and landmarks in a 2D image would be best for the elderly in terms of acquired spatial cognition and the location of goods within a 3D virtual store.     

Personalizing 3D virtual fashion stores: Exploring modularity with a typology of atmospherics based on user input

This research develops a typology of atmospherics that contains user-identified modules and modular options for personalizing 3D virtual fashion stores. A content analysis of 46 focus group discussions (n = 170) was conducted to understand the user’s perspective for personalizing 3D virtual fashion store atmospherics. Based on three atmospheric categories (pathfinding assistant, environment, and the manner of product presentation), 17 modules and 207 modular options were identified for personalizing 3D virtual stores. This research pioneers the development of an atmospherics typology for personalizing 3D virtual shopping environments as a persuasive selling tool in the emerging field of 3D virtual reality (VR) retailing.     

Performance analysis of visualmarkers for indoor navigation systems

The massive diffusion of smartphones, the growing interest in wearable devices and the Internet of Things, and the exponential rise of location based services (LBSs) have made the problem of localization and navigation inside buildings one of the most important technological challenges of recent years. Indoor positioning systems have a huge market in the retail sector and contextual advertising; in addition, they can be fundamental to increasing the quality of life for citizens if deployed inside public buildings such as hospitals, airports, and museums. Sometimes, in emergency situations, they can make the difference between life and death. Various approaches have been proposed in the literature. Recently, thanks to the high performance of smartphones’ cameras, marker-less and marker-based computer vision approaches have been investigated. In a previous paper, we proposed a technique for indoor localization and navigation using both Bluetooth low energy (BLE) and a 2D visual marker system deployed into the floor. In this paper, we presented a qualitative performance evaluation of three 2D visual markers, Vuforia, ArUco marker, and AprilTag, which are suitable for real-time applications. Our analysis focused on specific case study of visual markers placed onto the tiles, to improve the efficiency of our indoor localization and navigation approach by choosing the best visual marker system.     

Automatic modeling of cluttered multi‐room floor plans from panoramic images

We present a novel and light‐weight approach to capture and reconstruct structured 3D models of multi‐room floor plans. Starting from a small set of registered panoramic images, we automatically generate a 3D layout of the rooms and of all the main objects inside. Such a 3D layout is directly suitable for use in a number of real‐world applications, such as guidance, location, routing, or content creation for security and energy management. Our novel pipeline introduces several contributions to indoor reconstruction from purely visual data. In particular, we automatically partition panoramic images in a connectivity graph, according to the visual layout of the rooms, and exploit this graph to support object recovery and rooms boundaries extraction. Moreover, we introduce a plane‐sweeping approach to jointly reason about the content of multiple images and solve the problem of object inference in a top‐down 2D domain. Finally, we combine these methods in a fully automated pipeline for creating a structured 3D model of a multi‐room floor plan and of the location and extent of clutter objects. These contribution make our pipeline able to handle cluttered scenes with complex geometry that are challenging to existing techniques. The effectiveness and performance of our approach is evaluated on both real‐world and synthetic models.     

Fine-grained occupant activity monitoring with Wi-Fi channel state information: Practical implementation of multiple receiver settings

Human activity recognition is essential for various smart-home applications. With the development of sensing technology, various approaches have been proposed for occupancy monitoring indoors. However, such approaches have practical limitations that they require additional occupancy sensors, which may raise privacy issues and obtrude on occupants’ daily lives. In this research, a Wi-Fi-based occupancy monitoring system, Wi-Sensing, is proposed to recognize occupant’s activities of daily living in a non-intrusive way by exploiting commercial off-the-shelf Wi-Fi devices. Channel State Information (CSI) has been extracted from Wi-Fi signals collected from multiple Wi-Fi devices, which could be replaced by Internet of Things (IoT) devices. While multiple receivers are needed to cover the entirety of an indoor space, previous approaches have been proposed to extract numerous features from a single transmitter–receiver pair. In this context, this study presents a new approach toward extracting spatial–temporal features from multiple receivers deployed throughout an indoor space. In this approach, a Short-Time Fourier Transform (STFT) was used to convert time-series CSI data into image data. The converted image data from each receiver was then integrated as large image data, which preserved the temporal-spatial information of all the receiver data. A Convolutional Neural Network (CNN) was used as a feature extractor for the image data, and Long Short-Term Memory (LSTM) was exploited to classify basic activities in daily life (e.g., personal hygiene, eating, mobility, etc.). Wi-Sensing provides over 96% classification accuracy in two different indoor environments.     

Spatio-temporal adaptive indoor positioning using an ensemble approach

We present a fingerprinting-based Wi-Fi indoor positioning method robust against temporal fluctuations and spatial instability in Wi-Fi signals. An ensemble is created using randomized weak position estimators, with the estimators specialized to different areas in the target environment and designed so that each area has estimators that rely on different subsets of stable APs. When conducting positioning, we cope with spatial instability by dynamically adjusting the weights of the weak estimators depending on the user’s estimated location and cope with temporal fluctuations by dynamically adjusting the weights based on a periodic assessment of their performance using a particle filter tracker.     

融合多模传感器的室内实时高精度轨迹生成

提出了一种融合多模传感器的室内实时高精度轨迹生成方法,亦即将室内Wi-Fi定位与传感器定位结合起来,生成用户在室内移动的实时轨迹。首先由Wi-Fi定位出用户的初始位置,然后结合Wi-Fi定位的结果以及多个传感器的数据,得到用户的运动速度以及方向,通过航迹推算算法得到用户下一时刻的位置,最后对得出的位置坐标进行卡尔曼滤波处理,得到用户的位置坐标,最终生成用户移动的实时轨迹。实验结果表明,该方法可以得到比Wi-Fi定位更为平滑稠密的移动轨迹,且精确度 比其他同类方法更高。     

Fast Directional Handoff and lightweight retransmission protocol for enhancing multimedia quality in indoor WLANs

More and more mobile devices such as smartphones are being used with IEEE 802.11 wireless LANs (WLANs or Wi-Fi). However, mobile users are still experiencing poor service quality on the move due to the large handoff delay and packet loss problem. In order to reduce the delay, a new handoff scheme using the geomagnetic sensor embedded in mobile devices is proposed in this paper. The proposed scheme predicts the movement direction of a Mobile Station (MS) from the currently associated Access Point (AP) and performs active scanning with a reduced number of channels. In terms of the packet loss, a lightweight retransmission protocol is also proposed to minimize lost packets on Wi-Fi without producing a lot of acknowledgement packets. The proposed approaches are implemented on Android smartphones, and their performance is evaluated in a real indoor WLAN environment. The evaluation results demonstrate that the proposed schemes maintain seamless quality for real-time video even in an environment with frequent handoffs. Note that the proposed schemes are a client-only solution and do not require modification of the existing APs, which renders them very practical.     

Video image target monitoring based on RNN-LSTM

Traditional image object classification and detection algorithms and strategies cannot meet the problem of video image acquisition and processing. Deep learning deliberately simulates the hierarchical structure of human brain, and establishes the mapping from low-level signals to high-level semantics, so as to achieve hierarchical feature representation of data. Deep learning technology has powerful visual information processing ability, which has become the forefront technology and domestic and international research hotspots to deal with this challenge. In order to solve the problem of target space location in video surveillance system, time-consuming and other problems, in this paper, we propose the algorithm based on RNN-LSTM deep learning. At the same time, according to the principle of OpenGL perspective imaging and photogrammetry consistency, we use 3D scene simulation imaging technology, relying on the corresponding relationship between video images and simulation images we locate the target object. In the 3D virtual scene, we set up the virtual camera to simulate the imaging processing of the actual camera, and the pixel coordinates in the video image of the surveillance target are substituted into the simulation image, next, the spatial coordinates of the target are inverted by the inverse process of the virtual imaging. The experimental results show that the detection of target objects has high accuracy, which has an important reference value for outdoor target localization through video surveillance images.

     

基于高精度室内位置感知的大数据研究与应用

随着室内定位技术的发展,室内位置数据和用户消费行为数据的大量产生为室内位置大数据(LBD)研究和应用提供了可能。基于高精度室内位置感知,突破了室内定位位置数据不准确的瓶颈。通过对室内位置数据聚类、降维等预处理,建立挖掘模型分析并提取了室内商圈区域的聚散和流动等特性,进一步通过特征关联预测用户的消费等行为,提出了室内位置大数据协同挖掘的方法和架构。在某机场商圈、西单某商场亿级用户位置数据集上进行了有效性实验和应用,通过实测数据对比验证了基于此架构室内定位数据的精准性和挖掘方法的可行性。