Computer vision based indoor localization methods use either an infrastructure of static cameras to track mobile entities (e.g., people, robots) or cameras attached to the mobile entities. Methods in the first category employ object tracking, while the others map images from mobile cameras with images acquired during a configuration stage or extracted from 3D reconstructed models of the space. This paper offers an overview of the computer vision based indoor localization domain, presenting application areas, commercial tools, existing benchmarks, and other reviews. It provides a survey of indoor localization research solutions, proposing a new classification based on the configuration stage (use of known environment data), sensing devices, type of detected elements, and localization method. It groups 70 of the most recent and relevant image based indoor localization methods according to the proposed classification and discusses their advantages and drawbacks. It highlights localization methods that also offer orientation information, as this is required by an increasing number of applications of indoor localization (e.g., augmented reality).
Recent advancements in energy-efficient hardware technology is driving the exponential growth we are experiencing in the Internet of Things (IoT) space, with more pervasive computations being performed near to data generation sources. A range of intelligent devices and applications performing local detection is emerging (activity recognition, fitness monitoring, etc.) bringing with them obvious advantages such as reducing detection latency for improved interaction with devices and safeguarding user data by not leaving the device. Video processing holds utility for many emerging applications and data labelling in the IoT space. However, performing this video processing with deep neural networks at the edge of the Internet is not trivial. In this paper we show that pedestrian location estimation using deep neural networks is achievable on fixed cameras with limited compute resources. Our approach uses pose estimation from key body points detection to extend pedestrian skeleton when whole body not in image (occluded by obstacles or partially outside of frame), which achieves better location estimation performance (infrence time and memory footprint) compared to fitting a bounding box over pedestrian and scaling. We collect a sizable dataset comprising of over 2100 frames in videos from one and two surveillance cameras pointing from different angles at the scene, and annotate each frame with the exact position of person in image, in 42 different scenarios of activity and occlusion. We compare our pose estimation based location detection with a popular detection algorithm, YOLOv2, for overlapping bounding-box generation, our solution achieving faster inference time (15x speedup) at half the memory footprint, within resource capabilities on embedded devices, which demonstrate that CamLoc is an efficient solution for location estimation in videos on smart-cameras.
The Retuerta is one of the oldest breed of horses in Europe, which roams wild in the Donana National Park, Andalusia, Spain. Thirty-two of these horses were marked with wireless sensors to gather spatio-temporal data on their behaviour over a period of several months. This paper describes our experiences of tracking and monitoring these wild horses attached with body-worn sensors and operating in a harsh and challenging environment. Analysis of this data for the first two months has revealed rare insights into the horses' social behaviour, such as the group dynamics (group sizes and memberships), dispersal and home ranges which are of interest to both animal ethologists and practitioners managing the ecology of their wild habitats. The paper introduces the Virtual Beacon-Time Division Multiple Access (VB-TDMA) protocol for orchestrating the data collection, and describes the choices that were made for addressing the many technical challenges for an extended deployment, such as in the design of the sensor platform, wireless data collection and battery lifetime issues. Our experiences point to the virtue of simplicity in design of wireless sensor networks to support core functionalities for achieving good average case performances.
The use of gait for person identification has important advantages such as being non-invasive, unobtrusive, not requiring cooperation and being less likely to be obscured compared to other biometrics. Existing methods for gait recognition require cooperative gait scenarios, in which a single person is walking multiple times in a straight line in front of a camera. We address the challenges of real-world scenarios in which camera feeds capture multiple people, who in most cases pass in front of the camera only once. We address privacy concerns by using only motion information of walking individuals, with no identifiable appearance-based information. As such, we propose a self-supervised learning framework, WildGait, which consists of pre-training a Spatio-Temporal Graph Convolutional Network on a large number of automatically annotated skeleton sequences obtained from raw, real-world surveillance streams to learn useful gait signatures. We collected and compiled the largest pretraining dataset to date of anonymized walking skeletons called Uncooperative Wild Gait, containing over 38k tracklets of anonymized walking 2D skeletons. We make the dataset available to the research community. Our results surpass the current state-of-the-art pose-based gait recognition solutions. Our proposed method is reliable in training gait recognition methods in unconstrained environments, especially in settings with scarce amounts of annotated data.
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