Comparing and Evaluating Indoor Positioning Techniques

This paper introduces a new routing and touring service both for outdoor and indoor places of touristic and cultural interest designed to be used in the wider area of Attica, Greece. This service is the result of the work performed in OPTORER (OPTORER: OPtimal rouTing and explOration of touRistic and cultural arEas of interest within Attica given personalized adaptive preferences, promoted underlying purpose, and interactive experience), project, and it aspires to offer a range of innovative and thematic routes to several specified points of interest in the selected area of Attica, encouraging the combination of indoor and outdoor routes in a single tour. The aim is to optimize the user experience while promoting specific, user-centric features, with safety and social welfare being a priority for every designed tour, resulting in enhancing the touristic experience in the area. Using a common smartphone device, as well as common wearable devices (i.e., smartwatches), the OPTORER service will provide an end-to-end solution by developing the algorithms and end-user applications, together with an orchestration platform responsible for managing, operating, and executing the service that produces and presents to the end user results derived from solving dynamically complex optimization problems.

Section: Related Worksupporting

confidence: 70%

OPTORER: A Dynamic Routing and Touring Service for Indoors and Outdoor Tours

Vassilakis,

Polychronaki,

Margaritis

et al. 2024

“…Human behaviour tracking approaches. Different studies have been implemented to evaluate individuals’ position in interaction in closed spaces [ 15 , 24 ]. For our analysis, these human tracking technologies can be divided into devices with and without physical contact with the user.…”

Section: Related Workmentioning

confidence: 99%

Evaluating Automatic Body Orientation Detection for Indoor Location from Skeleton Tracking Data to Detect Socially Occupied Spaces Using the Kinect v2, Azure Kinect and Zed 2i

Sosa-León

Schwering

2022

Analysing the dynamics in social interactions in indoor spaces entails evaluating spatial–temporal variables from the event, such as location and time. Additionally, social interactions include invisible spaces that we unconsciously acknowledge due to social constraints, e.g., space between people having a conversation with each other. Nevertheless, current sensor arrays focus on detecting the physically occupied spaces from social interactions, i.e., areas inhabited by physically measurable objects. Our goal is to detect the socially occupied spaces, i.e., spaces not physically occupied by subjects and objects but inhabited by the interaction they sustain. We evaluate the social representation of the space structure between two or more active participants, so-called F-Formation for small gatherings. We propose calculating body orientation and location from skeleton joint data sets by integrating depth cameras. The body orientation is derived by integrating the shoulders and spine joint data with head/face rotation data and spatial–temporal information from trajectories. From the physically occupied measurements, we can detect socially occupied spaces. In our user study implementing the system, we compared the capabilities and skeleton tracking datasets from three depth camera sensors, the Kinect v2, Azure Kinect, and Zed 2i. We collected 32 walking patterns for individual and dyad configurations and evaluated the system’s accuracy regarding the intended and socially accepted orientations. Experimental results show accuracy above 90% for the Kinect v2, 96% for the Azure Kinect, and 89% for the Zed 2i for assessing socially relevant body orientation. Our algorithm contributes to the anonymous and automated assessment of socially occupied spaces. The depth sensor system is promising in detecting more complex social structures. These findings impact research areas that study group interactions within complex indoor settings.

“…Raza A. [ 35 ] explored various indoor localization techniques which compared and contrasted various approaches and classified them according to a set of suggested criteria to evaluate a commercially deployable indoor localization solution. However, there is no more research and better solutions for solving the SLAM cumulative drift problem in loopback-free tasks in indoor environments.…”

Section: Related Workmentioning

confidence: 99%

SLAM Back-End Optimization Algorithm Based on Vision Fusion IPS

Xia

Cheng

Cai

et al. 2022

SLAM (Simultaneous Localization and Mapping) is mainly composed of five parts: sensor data reading, front-end visual odometry, back-end optimization, loopback detection, and map building. And when visual SLAM is estimated by visual odometry only, cumulative drift will inevitably occur. Loopback detection is used in classical visual SLAM, and if loopback is not detected during operation, it is not possible to correct the positional trajectory using loopback. Therefore, to address the cumulative drift problem of visual SLAM, this paper adds Indoor Positioning System (IPS) to the back-end optimization of visual SLAM, and uses the two-label orientation method to estimate the heading angle of the mobile robot as the pose information, and outputs the pose information with position and heading angle. It is also added to the optimization as an absolute constraint. Global constraints are provided for the optimization of the positional trajectory. We conducted experiments on the AUTOLABOR mobile robot, and the experimental results show that the localization accuracy of the SLAM back-end optimization algorithm with fused IPS can be maintained between 0.02 m and 0.03 m, which meets the requirements of indoor localization, and there is no cumulative drift problem when there is no loopback detection, which solves the problem of cumulative drift of the visual SLAM system to some extent.