Upload
silvia-pichler
View
760
Download
0
Embed Size (px)
Citation preview
indoo.rs SLAM Crowd EngineTechnological overview
The best indoor blue dot you can find!
INDOOR POSITIONING AND NAVIGATION FOR MOBILE APPS
Dr. Thomas BurgessChief Research Officerindoo.rs GmbH, Austria
Radio navigation
Floor plan
Radio map
Building
Navigation works with a radio map (red squares) and observed radio (green circles) data from a mobile device.
The radio map contains fingerprints - lists of visible radio signal strengths at each position. The algorithm finds the most similar references to the observation (green dotted lines) and fuses them to a
position.
Trajectory improvement
Radio navigation
Sensor dataPedestrian
dead reckoning
Radio map
Radio data AdaptiveKalman
FilterTrajectory
indoo.rs
indoo.rs
A radio map and mobile radio data is used to produce positions. Motion sensor data is used for Pedestrian Dead Reckoning to produce steps with length and heading.
An Adaptive Kalman Filter combines PDR and positions to a high quality trajectory. Radio and trajectory data are sent to indoo.rs cloud.
From phone to radio map1 - Record 2 - Navigate
3 - SLAM 4 - Interpolate
Mobile
Cloud
The mobile navigation uses the radio map with radio and sensor data to make a trajectory. In the cloud the trajectory is improved using SLAM.
The new radio data along the trajectory is interpolated into the radio map fingerprints.Many such trajectories are combined to make a single radio map update.
indoo.rs SLAM system
SLAMRecordings
BuildingsSLAM
estimates
Navigating mobile devices upload trajectory recordings to the cloud. SLAM improves the trajectories and produces interpolated estimates.
The estimates are used to update the radio map. The new radio map is shipped to future navigating devices.
indoo.rs SLAM Crowd
Initial SLAM Update SLAM
SLAMRec
Rec
Building
SLAMRecording
Recording
Recording
Building
Update SLAM
SLAMRec
Rec
Building
Rec
Initial SLAM uses recordings with ground truth information.Update SLAM uses trajectories from crowd recordings and the latest iteration of the radio map.
As long as part of the radio infrastructure remain, SLAM updates are possible indefinitely.
SLAM crowd algorithm
Recording
Trajectory
Radio
SLAM
GraphSLAM
SegmentFloors
Interrupts
MapInterpolation
SLAMTrajectory
Estimates
Building
Fingerprints
Building
Fingerprints
Mobile recordings are segmented to segments with a single floor and continuous data.SLAM fits the positions and steps to a high quality trajectory in each segment using
GraphSLAM.
Data for each radio is interpolated to the radio map positions.Results for all radios and segments are combined into a building radio map.
SLAM Parallelisation
SLAM
Beacon
Beacon
Beacon
Beacon
Beacon
BeaconSLAM
SLAM
SLAM
SLAM
SLAM
Slice
Slice
Slice
Slice
Slice
Recording
Recording
Segment SLAM MAP
The SLAM Crowd algorithm is well suited for parallel execution: Recordings can be sliced in parallel, slices can be SLAMed in parallel, the radio map for each beacon can be interpolated in parallel.
Single threaded execution is already faster than real time for recordings, but with large data sets parallelisation is necessary for scaling. We implement this using Apache SPARK in a setup that works over multiple cores on one
or more servers.
System overviewMobile Cloud Web front end
SDKs SLAM
DataStore
Crowdcollector
MobileToolkitViewer
Analytics UI
Data export
Dedicated recordings happen in indoo.rs mobile toolkit. Crowd recordings happen in any application using the indoo.rs navigation SDK. In the cloud our Crowd collector front end receive recordings and commits them to the data store.
The data store contains recordings, slam estimates, buildings as protocol buffers stored on s3. Metadata for the s3 files is stored in a postgres db. SLAM monitors datastore to trigger updates. Analytics web UI provides interactive visual exploration
of SLAM trajectories, proximity events, and dedicated analytics data. From the web UI select data can be exported for external use.
indoo.rs provides excellent indoor navigation
SLAM Engine provides high quality initial radio maps
Crowd sourcing collector continuously collects trajectory and radio data from navigating clients
SLAM Crowd Engine regularly produces radio map updates based on crowd data
Analytics engine leverages high quality SLAM trajectories for visual analytics and data export
Summary
The best indoor blue dot you can find!
INDOOR POSITIONING AND NAVIGATION FOR MOBILE APPS
Dr. Thomas Burgess<[email protected]>
Chief Research Officerindoo.rs GmbH, Austria