Paper Info
Title
A fast and practical method of indoor localization for resource-constrained devices with limited sensing
Abstract
We describe and experimentally demonstrate a practical method for indoor localization using measurements obtained from resource-constrained devices with limited sensing capabilities. We focus on handheld/mobile devices but the method can be useful for a variety of wearable devices. Our system works with sparse WiFi or image-based measurements, avoiding laborious site surveying for dense signal maps and runs in real-time. It uses Conditional Random Fields to infer the most probable sequence of agent positions from a known floor plan, dead reckoning and sparse absolute position estimates. Our solution leverages known topology of the environment by pre-computing allowed motion sequences of an agent, which are then used to constraint the motion inferred from the sensory data. The system is evaluated in a typical office building, demonstrating good accuracy and robustness to sparse, low-quality measurements.
Year
DOI
Venue
2020
10.1109/ICRA40945.2020.9197215
2020 IEEE International Conference on Robotics and Automation (ICRA)
Keywords
DocType
Volume
fast method,indoor localization,resource-constrained devices,limited sensing capabilities,wearable devices,sparse WiFi,image-based measurements,dense signal maps,conditional random fields,agent positions,known floor plan,sparse absolute position estimates,motion sequences,low-quality measurements,handheld devices,mobile devices,sensory data
Conference
2020
Issue
ISSN
ISBN
1
1050-4729
978-1-7281-7396-2
Citations 
PageRank 
References 
0
0.34
16
Authors
2
Name
Order
Citations
PageRank
Jan Wietrzykowski1194.46
Piotr Skrzypczynski214825.07