Adversarial Learning-Enabled Automatic WiFi Indoor Radio Map Construction and Adaptation With Mobile Robot

2020 ◽  
Vol 7 (8) ◽  
pp. 6946-6954 ◽  
Author(s):  
Han Zou ◽  
Chun-Lin Chen ◽  
Maoxun Li ◽  
Jianfei Yang ◽  
Yuxun Zhou ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Adversarial Learning ◽  
Map Construction ◽  
Indoor Radio ◽  
Radio Map

scholarly journals Indoor Radio Map Construction Based on Position Adjustment and Equipment Calibration

Sensors ◽  
2020 ◽  
Vol 20 (10) ◽  
pp. 2818
Author(s):  
Ruolin Guo ◽  
Danyang Qin ◽  
Min Zhao ◽  
Xinxin Wang
Keyword(s):  
Particle Filtering ◽  
Wireless Local Area Network ◽  
Indoor Localization ◽  
Local Area Network ◽  
Dead Reckoning ◽  
Local Area ◽  
Area Network ◽  
Map Construction ◽  
Indoor Radio ◽  
Radio Map

The crowdsourcing-based wireless local area network (WLAN) indoor localization system has been widely promoted for the effective reduction of the workload from the offline phase data collection while constructing radio maps. Aiming at the problem of the diverse terminal devices and the inaccurate location annotation of the crowdsourced samples, which will result in the construction of the wrong radio map, an effective indoor radio map construction scheme (RMPAEC) is proposed based on position adjustment and equipment calibration. The RMPAEC consists of three main modules: terminal equipment calibration, pedestrian dead reckoning (PDR) estimated position adjustment, and fingerprint amendment. A position adjustment algorithm based on selective particle filtering is used by RMPAEC to reduce the cumulative error in PDR tracking. Moreover, an inter-device calibration algorithm is put forward based on receiver pattern analysis to obtain a device-independent grid fingerprint. The experimental results demonstrate that the proposed solution achieves higher localization accuracy than the peer schemes, and it possesses good effectiveness at the same time.

scholarly journals Access-Point Centered Window-Based Radio-Map Generation Network

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 6107
Author(s):  
Won-Yeol Kim ◽  
Soo-Ho Tae ◽  
Dong-Hoan Seo
Keyword(s):  
Moving Objects ◽  
Access Point ◽  
Floor Plan ◽  
Adversarial Learning ◽  
Training Time ◽  
Indoor Space ◽  
Indoor Radio ◽  
Map Generation ◽  
Generation Network ◽  
Radio Map

Fingerprinting is the term used to describe a common indoor radio-mapping positioning technology that tracks moving objects in real time. To use this, a substantial number of measurement processes and workflows are needed to generate a radio-map. Accordingly, to minimize costs and increase the usability of such radio-maps, this study proposes an access-point (AP)-centered window (APCW) radio-map generation network (RGN). The proposed technique extracts parts of a radio-map in the form of a window based on AP floor plan coordinates to shorten the training time while enhancing radio-map prediction accuracy. To provide robustness against changes in the location of the APs and to enhance the utilization of similar structures, the proposed RGN, which employs an adversarial learning method and uses the APCW as input, learns the indoor space in partitions and combines the radio-maps of each AP to generate a complete map. By comparing four learning models that use different data structures as input based on an actual building, the proposed radio-map learning model (i.e., APCW-based RGN) obtains the highest accuracy among all models tested, yielding a root-mean-square error value of 4.01 dBm.

scholarly journals A Visual-Based Approach for Indoor Radio Map Construction Using Smartphones

Sensors ◽  
2017 ◽  
Vol 17 (8) ◽  
pp. 1790 ◽  
Author(s):  
Tao Liu ◽  
Xing Zhang ◽  
Qingquan Li ◽  
Zhixiang Fang
Keyword(s):  
Map Construction ◽  
Indoor Radio ◽  
Radio Map

DeepMap: Deep Gaussian Process for Indoor Radio Map Construction and Location Estimation

2018 ◽  
Author(s):  
Xiangyu Wang ◽  
Xuyu Wang ◽  
Shiwen Mao ◽  
Jian Zhang ◽  
Senthilkumar C. G. Periaswamy ◽  
...  
Keyword(s):  
Gaussian Process ◽  
Location Estimation ◽  
Map Construction ◽  
Indoor Radio ◽  
Radio Map

Indoor Radio Map Construction and Localization With Deep Gaussian Processes

2020 ◽  
Vol 7 (11) ◽  
pp. 11238-11249 ◽  
Author(s):  
Xiangyu Wang ◽  
Xuyu Wang ◽  
Shiwen Mao ◽  
Jian Zhang ◽  
Senthilkumar C. G. Periaswamy ◽  
...  
Keyword(s):  
Gaussian Processes ◽  
Map Construction ◽  
Indoor Radio ◽  
Radio Map

scholarly journals A Fast Radio Map Construction Method Merging Self-Adaptive Local Linear Embedding (LLE) and Graph-Based Label Propagation in WLAN Fingerprint Localization Systems

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 767 ◽  
Author(s):  
Yepeng Ni ◽  
Jianping Chai ◽  
Yan Wang ◽  
Weidong Fang
Keyword(s):  
Label Propagation ◽  
Positioning Accuracy ◽  
Local Linear Embedding ◽  
Map Construction ◽  
Local Linear ◽  
Linear Embedding ◽  
Fingerprint Database ◽  
Radio Map ◽  
Localization Systems ◽  
Self Adaptive

Indoor WLAN fingerprint localization systems have been widely applied due to the simplicity of implementation on various mobile devices, including smartphones. However, collecting received signal strength indication (RSSI) samples for the fingerprint database, named a radio map, is significantly labor-intensive and time-consuming. To solve the problem, this paper proposes a semi-supervised self-adaptive local linear embedding algorithm to build the radio map. First, this method uses the self-adaptive local linear embedding (SLLE) algorithm based on manifold learning to reduce the dimension of the high-dimensional RSSI samples and to extract a neighbor weight matrix. Secondly, a graph-based label propagation (GLP) algorithm is employed to build the radio map by semi-supervised learning from a large number of unlabeled RSSI samples to a few labeled RSSI samples. Finally, we propose a k self-adaptive neighbor weight (kSNW) algorithm, used for radio map construction in this paper, to realize online localization. The results of the experiments conducted in a real indoor environment show that the proposed method reduces the demand for large quantities of labeled samples and achieves good positioning accuracy. With only 25% labeled RSSI samples, our system can obtain positioning accuracy of more than 88%, within 3 m of localization errors.

scholarly journals Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm

2019 ◽  
Vol 11 (2) ◽  
pp. 149 ◽  
Author(s):  
Guanci Yang ◽  
Zhanjie Chen ◽  
Yang Li ◽  
Zhidong Su
Keyword(s):  
Mobile Robot ◽  
Dynamic Environment ◽  
Original System ◽  
Tracking Accuracy ◽  
Vocabulary Size ◽  
Map Construction ◽  
Speed Tracking ◽  
Start Up ◽  
C Programming ◽  
Robot Platform

In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented FAST and Rotated BRIEF (ORB) operator to reduce the vocabulary size and improve the loading speed of the vocabulary and tracking accuracy. Secondly, we proposed an offline map construction algorithm based on the map element and keyframe database; then, we designed a fast reposition method of the mobile robot based on the offline map. Finally, we presented an offline visualization method for map elements and mapping trajectories. In order to check the performance of the algorithm in this paper, we built a mobile robot platform based on the EAI-B1 mobile chassis, and we implemented the rapid relocation method of the mobile robot based on improved ORB SLAM2 algorithm by using C++ programming language. The experimental results showed that the improved ORB SLAM2 system outperforms the original system regarding start-up speed, tracking and positioning accuracy, and human–computer interaction. The improved system was able to build and load offline maps, as well as perform rapid relocation and global positioning tracking. In addition, our experiment also shows that the improved system is robust against a dynamic environment.

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