Virtual testbed for indoor localization

Abstract

We present a novel, easy to use v i rtual testbed for the evaluation o f local i zation algor i thms. Our testbed enables researchers to easil y run tests on a huge bod y of real world range-based indoor localization data. The data consists of a dense grid of reference points belonging to one or multiple maps.Each point consists of a ground truth value and an arbitrar y number of ranging values. Each ranging value belongs to a certain anchor node on a fixed position. The reference data is gathered b y a robot which carries (arbitrar y ) localization devices. The robot stores its location as a ground truth value and simultaneousl y uses the local i zation device to measure the distance to a set of anchors in range. The ground truth value is gathered b y an optical reference s y stem which is applied to the robot. It is possible to define paths through a map using a web interface. Our s y stem uses our experimental gathered reference points to deliver a dataset of ranging values for the current path. Therefore the researcher can run a virtual experiment b y himself and can adjust several parameters. Our s y stem enables other researchers to run reproducible experiments on real word data. The expensive and complex deplo y ment of a dedicated infrastructure and experimental setup can be avoided as well as the error-prone task of modelling a localization s y stem and running a simulation. Our s y stem w i ll be open to the research communit y and will help to develop a better understanding of the field of range based indoor localization.