Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings

This paper explores how inertial Pedestrian Dead-Reckoning (PDR) location systems can be improved with the use of a light sensor to measure the illumination gradients created when a person walks under ceiling-mounted unmodified indoor lights. The process of updating the inertial PDR estimates with t...

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Authors: Jiménez Ruiz, Antonio R., Zampella, Francisco, Seco Granja, Fernando
Format: article
Publication Date:2014
Country:España
Institution:Consejo Superior de Investigaciones Científicas (CSIC)
Repository:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/102872
Online Access:http://hdl.handle.net/10261/102872
Access Level:Open access
Keyword:Signals of opportunity
Light/illumination
Pedestrian dead-reckoning
Smartphone
Indoor localization
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spelling Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildingsJiménez Ruiz, Antonio R.Zampella, FranciscoSeco Granja, FernandoSignals of opportunityLight/illuminationPedestrian dead-reckoningSmartphoneIndoor localizationThis paper explores how inertial Pedestrian Dead-Reckoning (PDR) location systems can be improved with the use of a light sensor to measure the illumination gradients created when a person walks under ceiling-mounted unmodified indoor lights. The process of updating the inertial PDR estimates with the information provided by light detections is a new concept that we have named Light-matching (LM). The displacement and orientation change of a person obtained by inertial PDR is used by the LM method to accurately propagate the location hypothesis, and vice versa; the LM approach benefits the PDR approach by obtaining an absolute localization and reducing the PDR-alone drift. Even from an initially unknown location and orientation, whenever the person passes below a switched-on light spot, the location likelihood is iteratively updated until it potentially converges to a unimodal probability density function. The time to converge to a unimodal position hypothesis depends on the number of lights detected and the asymmetries/irregularities of the spatial distribution of lights. The proposed LM method does not require any intensity illumination calibration, just the pre-storage of the position and size of all lights in a building, irrespective of their current on/off state. This paper presents a detailed description of the light-matching concept, the implementation details of the LM-assisted PDR fusion scheme using a particle filter, and several simulated and experimental tests, using a light sensor-equipped Galaxy S3 smartphone and an external foot-mounted inertial sensor. The evaluation includes the LM-assisted PDR approach as well as the fusion with other signals of opportunity (WiFi, RFID, Magnetometers or Map-matching) in order to compare their contribution in obtaining high accuracy indoor localization. The integrated solution achieves a localization error lower than 1 m in most of the cases. © 2014 by the authors; licensee MDPI, Basel, Switzerland.The authors thank the financial support received from projects: LEMUR (TIN2009-14114-C04-03), LAZARO (CSIC-PIE Ref.201150E039) and LORIS (TIN2012-38080-C04-04).Peer ReviewedMultidisciplinary Digital Publishing Institute20142014info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501http://hdl.handle.net/10261/102872reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglésinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1028722026-05-22T06:33:51Z
dc.title.none.fl_str_mv Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
title Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
spellingShingle Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
Jiménez Ruiz, Antonio R.
Signals of opportunity
Light/illumination
Pedestrian dead-reckoning
Smartphone
Indoor localization
title_short Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
title_full Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
title_fullStr Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
title_full_unstemmed Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
title_sort Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings
dc.creator.none.fl_str_mv Jiménez Ruiz, Antonio R.
Zampella, Francisco
Seco Granja, Fernando
author Jiménez Ruiz, Antonio R.
author_facet Jiménez Ruiz, Antonio R.
Zampella, Francisco
Seco Granja, Fernando
author_role author
author2 Zampella, Francisco
Seco Granja, Fernando
author2_role author
author
dc.subject.none.fl_str_mv Signals of opportunity
Light/illumination
Pedestrian dead-reckoning
Smartphone
Indoor localization
topic Signals of opportunity
Light/illumination
Pedestrian dead-reckoning
Smartphone
Indoor localization
description This paper explores how inertial Pedestrian Dead-Reckoning (PDR) location systems can be improved with the use of a light sensor to measure the illumination gradients created when a person walks under ceiling-mounted unmodified indoor lights. The process of updating the inertial PDR estimates with the information provided by light detections is a new concept that we have named Light-matching (LM). The displacement and orientation change of a person obtained by inertial PDR is used by the LM method to accurately propagate the location hypothesis, and vice versa; the LM approach benefits the PDR approach by obtaining an absolute localization and reducing the PDR-alone drift. Even from an initially unknown location and orientation, whenever the person passes below a switched-on light spot, the location likelihood is iteratively updated until it potentially converges to a unimodal probability density function. The time to converge to a unimodal position hypothesis depends on the number of lights detected and the asymmetries/irregularities of the spatial distribution of lights. The proposed LM method does not require any intensity illumination calibration, just the pre-storage of the position and size of all lights in a building, irrespective of their current on/off state. This paper presents a detailed description of the light-matching concept, the implementation details of the LM-assisted PDR fusion scheme using a particle filter, and several simulated and experimental tests, using a light sensor-equipped Galaxy S3 smartphone and an external foot-mounted inertial sensor. The evaluation includes the LM-assisted PDR approach as well as the fusion with other signals of opportunity (WiFi, RFID, Magnetometers or Map-matching) in order to compare their contribution in obtaining high accuracy indoor localization. The integrated solution achieves a localization error lower than 1 m in most of the cases. © 2014 by the authors; licensee MDPI, Basel, Switzerland.
publishDate 2014
dc.date.none.fl_str_mv 2014
2014
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/102872
url http://hdl.handle.net/10261/102872
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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