scholarly journals ACCURATE VISUAL LOCALIZATION IN OUTDOOR AND INDOOR ENVIRONMENTS EXPLOITING 3D IMAGE SPACES AS SPATIAL REFERENCE

2018 ◽  
Vol XLII-1 ◽  
pp. 355-362 ◽  
Author(s):  
D. Rettenmund ◽  
M. Fehr ◽  
S. Cavegn ◽  
S. Nebiker
Keyword(s):  
Coordinate Frame ◽  
Visual Localization ◽  
Indoor Environments ◽  
Test Field ◽  
3D Image ◽  
Single Image ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Localization Approach ◽  
Research Show

<p><strong>Abstract.</strong> In this paper, we present a method for visual localization and pose estimation based on 3D image spaces. The method works in indoor and outdoor environments and does not require the presence of control points or markers. The method is evaluated with different sensors in an outdoor and an indoor test field. The results of our research show the viability of single image localization with absolute position accuracies at the decimetre level for outdoor environments and 5 cm or better for indoor environments. However, the evaluation also revealed a number of limitations of single image visual localization in real-world environments. Some of them could be addressed by an alternative AR-based localization approach, which we also present and compare in this paper. We then discuss the strengths and weaknesses of the two approaches and show possibilities for combining them to obtain accurate and robust visual localization in an absolute coordinate frame.</p>

scholarly journals Assessing public perceptions about road lighting in five neighborhoods of Tirana, Albania

2019 ◽  
Vol 21 (2) ◽  
pp. 38-46 ◽  
Author(s):  
Kuenda Laze
Keyword(s):  
Obstacle Detection ◽  
Capital City ◽  
Lecture Hall ◽  
Indoor Environments ◽  
Visual Comfort ◽  
Road Lighting ◽  
Quality Aspects ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

The light use was assessed in ten indoor and outdoor environments of Tirana, Albania, in November 2017. The five indoor environments presented one lecture hall, one library and three labs in a school environment. The five major streets of the capital city of Tirana presented outdoor environments. Questionnaires were respectively used to assess two criteria of “Vista” and “Visual comfort” of daylight in indoor environments and security, obstacle detection and visibility in outdoor environments. Lighting quality aspects of “Vista” were evaluated at a higher rank compared to “Visual comfort”. The approximately 87 and 60 percent of respondents respectively were not able to detect a pavement obstacle after the sunset (dark) or to distinguish a familiar face at a distance of 5 and 10 m in outdoor environments. Lighting was respectively inadequately comfort to 86 percent of users in five indoor environments. Road lighting after dark was not satisfactory to 60 percent of respondents in outdoor environments. These initial findings identify that lighting could generally be inadequate in indoor and outdoor environments in Tirana. Further research is required on the light use in built environments in Tirana, Albania.

scholarly journals Transmission of SARS-CoV-2 Indoor and Outdoor Environments

Atmosphere ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1640
Author(s):  
Xueli Xu ◽  
Jing Zhang ◽  
Liting Zhu ◽  
Qiansheng Huang
Keyword(s):  
Human Life ◽  
Indoor Environments ◽  
Property A ◽  
The World ◽  
Outdoor Environments ◽  
Other Substances ◽  
Indoor And Outdoor Environments ◽  
Solid Liquid ◽  
Great Damage ◽  
Indoor And Outdoor

Since the outbreak in late December 2019, the coronavirus disease 2019 (COVID-19) pandemic has spread across the globe, causing great damage to human life and property. A lot of researchers around the world have devoted themselves to the study of its origin, pathogenic mechanism, and transmission route, and this article gives a summary. First, both humans and animals can act as the host of coronavirus. In indoor environments, the virus may exist in aerosols, droplets, saliva, etc., from the nose and mouth connected to the respiratory system, as well as feces, urine, etc., from the digestive and urinary systems. In addition, other substances, such as breast milk, eye feces, and blood, released from the host can carry viruses. The virus transmitted indoors is affected by indoor machinery, natural forces, and human activities, and spreads in different distances. Second, the virus spreads outdoors through three kinds of media: solid, liquid, and gas, and is affected by their survival time, the temperature, and humidity in the environment.

scholarly journals Seamless Indoor-Outdoor Navigation based on GNSS, INS and Terrestrial Ranging Techniques

2017 ◽  
Vol 70 (6) ◽  
pp. 1183-1204 ◽  
Author(s):  
Wei Jiang ◽  
Yong Li ◽  
Chris Rizos ◽  
Baigen Cai ◽  
Wei Shangguan
Keyword(s):  
Navigation System ◽  
Global Navigation Satellite Systems ◽  
Indoor Environments ◽  
Integrated Navigation ◽  
Satellite Systems ◽  
Integrated Navigation System ◽  
Outdoor Environments ◽  
Federated Kalman Filter ◽  
Indoor And Outdoor Environments ◽  
Global Navigation Satellite

We describe an integrated navigation system based on Global Navigation Satellite Systems (GNSS), an Inertial Navigation System (INS) and terrestrial ranging technologies that can support accurate and seamless indoor-outdoor positioning. To overcome severe multipath disturbance in indoor environments, Locata technology is used in this navigation system. Such a “Locata-augmented” navigation system can operate in different positioning modes in both indoor and outdoor environments. In environments where GNSS is unavailable, e.g. indoors, the proposed system is designed to operate in the Locata/INS “loosely-integrated” mode. On the other hand, in outdoor environments, all GNSS, Locata and INS measurements are available, and all useful information can be fused via a decentralised Federated Kalman filter. To evaluate the proposed system for seamless indoor-outdoor positioning, an indoor-outdoor test was conducted at a metal-clad warehouse. The test results confirmed that the proposed navigation system can provide continuous and reliable position and attitude solutions, with the positioning accuracy being better than five centimetres.

Providing Outdoor and Indoor Ubiquity with WLANs

2011 ◽  
pp. 1155-1168
Author(s):  
Diana Bri ◽  
Hugo Coll ◽  
Sandra Sendra ◽  
Jaime Lloret
Keyword(s):  
Local Area ◽  
High Gain ◽  
Point Of View ◽  
Indoor Environments ◽  
Research Areas ◽  
Outdoor Environments ◽  
Analytical Point ◽  
Wireless Interfaces ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

Wireless Local Area Networks are very useful for the most applications based on network. Nowadays, these types of networks are the most powerful in the communication’s world. It can be developed in almost all environments and products are cheap and robust. Moreover, these networks can be formed by different devices with wireless interfaces like IP cameras, laptops, PDAs, sensors, etc. WLANs provide high bandwidth at large coverage areas (if high gain antennas are used), which it is necessary in many applications at different research areas. All these characteristics let WLANs be a useful technology to provide ubiquity for any type of service. If they are deployed from a good and exhaustive design, they can provide connection to any device, everywhere at anytime. In this paper we present a complete guideline about how to design and deploy WLANs and to get their best performance. We start from an analytical point of view and we use mathematical expressions to design WLANs in both indoor and outdoor environments. Then, we show a method proposed by some authors of this paper some years ago and how it can be used to design WLANs in indoor environments. Next, we show WLANs design in outdoor environments. Finally, we describe two projects developed by the authors of this chapter in order to provide ubiquity in real indoor and outdoor environments.

scholarly journals Air Quality in Buraydah, Saudi Arabia

2020 ◽  
Vol 9 (5) ◽  
pp. 856-861
Keyword(s):  
Saudi Arabia ◽  
Particulate Matter ◽  
Air Quality ◽  
Environmental Parameters ◽  
Indoor Environments ◽  
Adverse Health Effects ◽  
Outdoor Environments ◽  
Different Seasons ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

Exposure to outdoor and indoor air particles (also known as particulate matter or PM) has attracted the interest of the scientific researchers around the world, this is because of the adverse health effects that particles have on the human. Smaller fractions of particulate matter (repairable range, ≤10 µm) give the greatest health problem, because they have the ability to reach deeper parts of the human respiratory system. Many countries have paid attention to the air pollution and made regulations to improve their indoor and outdoor air quality, Saudi Arabia, particularly Qassim region, has not given much attention to the problem of air contaminants in the ambient and indoor environments. In addition, ambient environmental parameters will be recorded. The results obtained from the indoor and outdoor measurements will help us to evaluate the air quality in Buraydah city for different seasons in the indoor and outdoor environments.

scholarly journals Behavior of the cultivable airborne mycobiota in air-conditioned environments of three Havanan archives, Cuba.

2020 ◽  
Vol 3 (1) ◽  
Author(s):  
Sofia Flavia Borrego Alonso ◽  
Alian Molina
Keyword(s):  
Indoor Air ◽  
Pathogenic Fungi ◽  
The Other ◽  
Indoor Environments ◽  
Outdoor Environments ◽  
High Concentrations ◽  
Opportunistic Pathogenic ◽  
Indoor And Outdoor Environments ◽  
Principal Species ◽  
Indoor And Outdoor

High concentrations of environmental fungi in the archives repositories are dangerous for the documents preserved in those places and for the workers' health. The aims of this work were to evaluate the behavior of the fungal concentration and diversity in the indoor air of repositories of 3 archives located in Havana, Cuba, and to demonstrate the potential risk that these taxa represent for the documentary heritage preserved in these institutions. The indoor and outdoor environments were sampled with a biocollector. From the I/O ratios, it was evident that two of the studied archives were not contaminated, while one of them did show contamination despite having temperature and relative humidity values very similar to the other two. Aspergillus, Penicillium and Cladosporium were the predominant genera in the indoor environments. New finds for archival environments were the genera Harposporium and Scolecobasidium. The principal species classified ecologically as abundant were C. cladosporioides and P. citrinum. They are known as opportunistic pathogenic fungi. All the analyzed taxa excreted acids, the most of them degraded cellulose, starch and gelatin while about 48% excreted different pigments. But 33% of them showed the highest biodeteriogenic potential, evidencing that they are the most dangerous for the documentary collections.

Verifying Received Power Predictions of Wireless InSite Software in Indoor Environments at WLAN Frequencies

2020 ◽  
Vol 35 (10) ◽  
pp. 1119-1126
Author(s):  
Huthaifa Obeidat ◽  
Omar Obeidat ◽  
Mahmood Mosleh ◽  
Ali Abdullah ◽  
Raed Abd-Alhameed
Keyword(s):  
Ray Tracing ◽  
Empirical Models ◽  
Computational Time ◽  
Indoor Environments ◽  
Received Power ◽  
Outdoor Environments ◽  
Simulation Results ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

This paper introduces a study on verifying received power at WLAN frequencies in indoor environments, Wireless InSite is a popular electromagnetic ray-tracing software which is widely used for predicting channel behaviour in indoor and outdoor environments. The study compares software-generated data with measurements collected through 3rd floor Chesham Building, University of Bradford, at WLAN frequencies, the paper also investigates the effect of changing settings on results accuracy and computational time, and finally, the paper presents a comparison between simulation results with empirical models.

scholarly journals Performance of Different SLAM Algorithms for Indoor and Outdoor Mapping Applications

2021 ◽  
Vol 4 (4) ◽  
pp. 101
Author(s):  
Burak Akpınar
Keyword(s):  
Detection Methods ◽  
Indoor Environments ◽  
Mobile Mapping ◽  
Outdoor Environments ◽  
Graph Slam ◽  
Indoor And Outdoor Environments ◽  
Mobile Mapping Systems ◽  
Better Than ◽  
Indoor And Outdoor ◽  
Mapping Systems

Indoor and outdoor mapping studies can be completed relatively quickly, depending on the developments in Mobile Mapping Systems. Especially in indoor environments where high accuracy GNSS positions cannot be used, mapping studies can be carried out with SLAM algorithms. Although there are many different SLAM algorithms in the literature, each can produce results with different accuracy according to the mapped environment. In this study, 3D maps were produced with LOAM, A-LOAM, and HDL Graph SLAM algorithms in different environments such as long corridors, staircases, and outdoor environments, and the accuracies of the maps produced with different algorithms were compared. For this purpose, a mobile mapping platform using Velodyne VLP-16 LIDAR sensor was developed, and the odometer drift, which causes loss of accuracy in the data collected, was minimized by loop closure and plane detection methods. As a result of the tests, it was determined that the results of the LOAM algorithm were not as accurate as those of the A-LOAM and HDL Graph SLAM algorithms. Both indoor and outdoor environments and the A-LOAM results’ accuracy were two times better than HDL Graph SLAM results.

Impacts of Different Winter Storage Conditions on the Physiology of Diutinus Honey Bees (Hymenoptera: Apidae)

2021 ◽  
Author(s):  
Brandon K Hopkins ◽  
Priyadarshini Chakrabarti ◽  
Hannah M Lucas ◽  
Ramesh R Sagili ◽  
Walter S Sheppard
Keyword(s):  
Honey Bees ◽  
The United States ◽  
Storage Conditions ◽  
Colony Losses ◽  
Bee Colony ◽  
Causative Factors ◽  
Outdoor Environments ◽  
Indoor And Outdoor Environments ◽  
Physiological Markers ◽  
Honey Bee Colony Losses

Abstract Global decline in insect pollinators, especially bees, have resulted in extensive research into understanding the various causative factors and formulating mitigative strategies. For commercial beekeepers in the United States, overwintering honey bee colony losses are significant, requiring tactics to overwinter bees in conditions designed to minimize such losses. This is especially important as overwintered honey bees are responsible for colony expansion each spring, and overwintered bees must survive in sufficient numbers to nurse the spring brood and forage until the new ‘replacement’ workers become fully functional. In this study, we examined the physiology of overwintered (diutinus) bees following various overwintering storage conditions. Important physiological markers, i.e., head proteins and abdominal lipid contents were higher in honey bees that overwintered in controlled indoor storage facilities, compared with bees held outdoors through the winter months. Our findings provide new insights into the physiology of honey bees overwintered in indoor and outdoor environments and have implications for improved beekeeping management.

scholarly journals A Hybrid Framework for Mitigating Heading Drift for a Wearable Pedestrian Navigation System through Adaptive Fusion of Inertial and Magnetic Measurements

2021 ◽  
Vol 11 (4) ◽  
pp. 1902
Author(s):  
Liqiang Zhang ◽  
Yu Liu ◽  
Jinglin Sun
Keyword(s):  
Magnetic Measurements ◽  
Inertial Sensor ◽  
Angular Rate ◽  
Human Motion ◽  
Navigation Systems ◽  
Pedestrian Navigation ◽  
Hybrid Framework ◽  
Outdoor Environments ◽  
Adaptive Fusion ◽  
Indoor And Outdoor Environments

Pedestrian navigation systems could serve as a good supplement for other navigation methods or for extending navigation into areas where other navigation systems are invalid. Due to the accumulation of inertial sensing errors, foot-mounted inertial-sensor-based pedestrian navigation systems (PNSs) suffer from drift, especially heading drift. To mitigate heading drift, considering the complexity of human motion and the environment, we introduce a novel hybrid framework that integrates a foot-state classifier that triggers the zero-velocity update (ZUPT) algorithm, zero-angular-rate update (ZARU) algorithm, and a state lock, a magnetic disturbance detector, a human-motion-classifier-aided adaptive fusion module (AFM) that outputs an adaptive heading error measurement by fusing heuristic and magnetic algorithms rather than simply switching them, and an error-state Kalman filter (ESKF) that estimates the optimal systematic error. The validation datasets include a Vicon loop dataset that spans 324.3 m in a single room for approximately 300 s and challenging walking datasets that cover large indoor and outdoor environments with a total distance of 12.98 km. A total of five different frameworks with different heading drift correction methods, including the proposed framework, were validated on these datasets, which demonstrated that our proposed ZUPT–ZARU–AFM–ESKF-aided PNS outperforms other frameworks and clearly mitigates heading drift.

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