scholarly journals Indoor Pedestrian Navigation Using Foot-Mounted IMU and Portable Ultrasound Range Sensors

Sensors ◽  
2011 ◽  
Vol 11 (8) ◽  
pp. 7606-7624 ◽  
Author(s):  
Gabriel Girard ◽  
Stéphane Côté ◽  
Sisi Zlatanova ◽  
Yannick Barette ◽  
Johanne St-Pierre ◽  
...  
Keyword(s):  
Real Time ◽  
Particle Filtering ◽  
Indoor Navigation ◽  
Tracking Accuracy ◽  
Portable Ultrasound ◽  
Emergency Situations ◽  
Pedestrian Navigation ◽  
Ultrasonic Ranging ◽  
Motion Unit ◽  
Indoor Navigation System

Many solutions have been proposed for indoor pedestrian navigation. Some rely on pre-installed sensor networks, which offer good accuracy but are limited to areas that have been prepared for that purpose, thus requiring an expensive and possibly time-consuming process. Such methods are therefore inappropriate for navigation in emergency situations since the power supply may be disturbed. Other types of solutions track the user without requiring a prepared environment. However, they may have low accuracy. Offline tracking has been proposed to increase accuracy, however this prevents users from knowing their position in real time. This paper describes a real time indoor navigation system that does not require prepared building environments and provides tracking accuracy superior to previously described tracking methods. The system uses a combination of four techniques: foot-mounted IMU (Inertial Motion Unit), ultrasonic ranging, particle filtering and model-based navigation. The very purpose of the project is to combine these four well-known techniques in a novel way to provide better indoor tracking results for pedestrians.

Smartphone-Based Indoor Visual Navigation with Leader-Follower Mode

2021 ◽  
Vol 17 (2) ◽  
pp. 1-22
Author(s):  
Jingao Xu ◽  
Erqun Dong ◽  
Qiang Ma ◽  
Chenshu Wu ◽  
Zheng Yang
Keyword(s):  
Real Time ◽  
Environmental Changes ◽  
State Of The Art ◽  
Visual Navigation ◽  
Indoor Navigation ◽  
Location Services ◽  
Localization And Mapping ◽  
Leaders And Followers ◽  
Indoor Navigation System ◽  
Free Pair

Existing indoor navigation solutions usually require pre-deployed comprehensive location services with precise indoor maps and, more importantly, all rely on dedicatedly installed or existing infrastructure. In this article, we present Pair-Navi, an infrastructure-free indoor navigation system that circumvents all these requirements by reusing a previous traveler’s (i.e., leader) trace experience to navigate future users (i.e., followers) in a Peer-to-Peer mode. Our system leverages the advances of visual simultaneous localization and mapping ( SLAM ) on commercial smartphones. Visual SLAM systems, however, are vulnerable to environmental dynamics in the precision and robustness and involve intensive computation that prohibits real-time applications. To combat environmental changes, we propose to cull non-rigid contexts and keep only the static and rigid contents in use. To enable real-time navigation on mobiles, we decouple and reorganize the highly coupled SLAM modules for leaders and followers. We implement Pair-Navi on commodity smartphones and validate its performance in three diverse buildings and two standard datasets (TUM and KITTI). Our results show that Pair-Navi achieves an immediate navigation success rate of 98.6%, which maintains as 83.4% even after 2 weeks since the leaders’ traces were collected, outperforming the state-of-the-art solutions by >50%. Being truly infrastructure-free, Pair-Navi sheds lights on practical indoor navigations for mobile users.

scholarly journals Real Time Indoor Navigation System For Visually Impaired

2019 ◽  
Vol 8 (6) ◽  
pp. 777-780
Keyword(s):  
Real Time ◽  
Navigation System ◽  
Mobile Applications ◽  
Visually Impaired ◽  
Indoor Environment ◽  
Indoor Navigation ◽  
University Campus ◽  
Railway Station ◽  
Indoor Navigation System ◽  
Visually Challenged

Indoor Navigation system is gaining lot of importance these days. It is particularly important to locate places inside a large university campus, Airport, Railway station or Museum. There are many mobile applications developed recently using different techniques. The work proposed in this paper is focusing on the need of visually challenged people while navigating in indoor environment. The approach proposed here implements the system using Beacon. The application developed with the system gives audio guidance to the user for navigation.

scholarly journals An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaoji Niu ◽  
Tong Yu ◽  
Jian Tang ◽  
Le Chang
Keyword(s):  
Real Time ◽  
Navigation System ◽  
Field Tests ◽  
Indoor Navigation ◽  
Scan Matching ◽  
Mobile Mapping ◽  
The Real ◽  
One Step ◽  
Indoor Navigation System ◽  
Simultaneous Location And Mapping

Multisensors (LiDAR/IMU/CAMERA) integrated Simultaneous Location and Mapping (SLAM) technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time) version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling frequencies and processing time of different algorithms. In this paper, an online Extended Kalman Filter (EKF) integrated algorithm of LiDAR scan matching and IMU mechanization for Unmanned Ground Vehicle (UGV) indoor navigation system is introduced. Since LiDAR scan matching is considerably more time consuming than the IMU mechanism, the real-time synchronous issue is solved via a one-step-error-state-transition method in EKF. Stationary and dynamic field tests had been performed using a UGV platform along typical corridor of office building. Compared to the traditional sequential postprocessed EKF algorithm, the proposed method can significantly mitigate the time delay of navigation outputs under the premise of guaranteeing the positioning accuracy, which can be used as an online navigation solution for indoor mobile mapping.

Evaluation of an Accessible, Real-Time, and Infrastructure-Free Indoor Navigation System by Users Who Are Blind in the Mall of America

2019 ◽  
Vol 113 (2) ◽  
pp. 140-155 ◽  
Author(s):  
Nicholas A. Giudice ◽  
William E. Whalen ◽  
Timothy H. Riehle ◽  
Shane M. Anderson ◽  
Stacy A. Doore
Keyword(s):  
Real Time ◽  
Navigation System ◽  
Memory Load ◽  
The United States ◽  
Indoor Navigation ◽  
Shopping Mall ◽  
Navigation Systems ◽  
Route Guidance ◽  
Indoor Navigation System ◽  
The Impact

Introduction: This article describes an evaluation of MagNav, a speech-based, infrastructure-free indoor navigation system. The research was conducted in the Mall of America, the largest shopping mall in the United States, to empirically investigate the impact of memory load on route-guidance performance. Method: Twelve participants who are blind and 12 age-matched sighted controls participated in the study. Comparisons are made for route-guidance performance between use of updated, real-time route instructions (system-aided condition) and a system-unaided (memory-based condition) where the same instructions were only provided in advance of route travel. The sighted controls (who navigated under typical visual perception but used the system for route guidance) represent a best case comparison benchmark with the blind participants who used the system. Results: Results across all three test measures provide compelling behavioral evidence that blind navigators receiving real-time verbal information from the MagNav system performed route travel faster (navigation time), more accurately (fewer errors in reaching the destination), and more confidently (fewer requests for bystander assistance) compared to conditions where the same route information was only available to them in advance of travel. In addition, no statistically reliable differences were observed for any measure in the system-aided conditions between the blind and sighted participants. Posttest survey results corroborate the empirical findings, further supporting the efficacy of the MagNav system. Discussion: This research provides compelling quantitative and qualitative evidence showing the utility of an infrastructure-free, low-memory demand navigation system for supporting route guidance through complex indoor environments and supports the theory that functionally equivalent navigation performance is possible when access to real-time environmental information is available, irrespective of visual status. Implications for designers and practitioners: Findings provide insight for the importance of developers of accessible navigation systems to employ interfaces that minimize memory demands.

scholarly journals Remote Real-Time Supervision of Prehospital Point-of-Care Ultrasound: A Feasibility Study

2021 ◽  
Author(s):  
Martina Hermann ◽  
Christina Hafner ◽  
Vincenz Scharner ◽  
Mojca Hribersek ◽  
Mathias Maleczek ◽  
...  
Keyword(s):  
Real Time ◽  
Data Transmission ◽  
Point Of Care ◽  
Power Saving ◽  
Emergency Ultrasound ◽  
Point Of Care Ultrasound ◽  
Portable Ultrasound ◽  
Emergency Situations ◽  
Prehospital Emergency ◽  
Video And Audio

Abstract Background: Although prehospital point-of-care ultrasound (POCUS) is gaining in importance, its rapid interpretation remains challenging in prehospital emergency situations. The technical development of remote real-time supervision potentially offers the possibility to support emergency medicine providers during prehospital emergency ultrasound. The aim of this study was to assess the feasibility of live data transmission and supervision of prehospital POCUS in an urban environment.Methods: Emergency doctors with moderate ultrasound experience performed prehospital POCUS in emergency cases (n=24) such as trauma, acute dyspnea or cardiac shock using the portable ultrasound device LumifyTM. The ultrasound examination was remotely transmitted to an emergency ultrasound expert in the clinic for real-time supervision via a secure video and audio connection. Technical feasibility as well as quality of communication and live stream were analysed.Results: Prehospital POCUS with remote real-time supervision was successfully performed in 17 patients (71%). In 3 cases, the expert was not available on time and in 1 case remote data transmission was not possible due to connection problems. In 3 cases tele-supervision was restricted to video only due to power saving mode of the tablet.Conclusion: Remote real-time supervision of prehospital POCUS is feasible most of the time with excellent image and communication quality. Trial registration: ClinicalTrials Number NCT04612816

scholarly journals Floor Map-Aware Particle Filtering Based Indoor Navigation System

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Suhardi Azliy Junoh ◽  
Santosh Subedi ◽  
Jae-Young Pyun
Keyword(s):  
Navigation System ◽  
Particle Filtering ◽  
Indoor Navigation ◽  
Indoor Navigation System
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