CSMC

The rise concern about mobile communication performance has driven the growing demand for the construction of mobile network signal maps which are widely utilized in network monitoring, spectrum management, and indoor/outdoor localization. Existing studies such as time-consuming and labor-intensive site surveys are difficult to maintain an update-to-date finegrained signal map within a large area. The mobile crowdsensing (MCS) paradigm is a promising approach for building signal maps because collecting large-scale MCS data is low-cost and with little extra-efforts. However, the dynamic environment and the mobility of the crowd cause spatio-temporal uncertainty and sparsity of MCS. In this work, we leverage MCS as an opportunity to conduct the city-wide mobile network signal map construction. We propose a fine-grained city-wide Cellular Signal Map Construction (CSMC) framework to address two challenges including (i) the problem of missing and unreliable MCS data; (ii) spatio-temporal uncertainty of signal propagation. In particular, CSMC captures spatio-temporal characteristics of signals from both inter- and intra- cellular base stations and conducts missing signal recovery with Bayesian tensor decomposition to build large-area fine-grained signal maps. Furthermore, CSMC develops a context-aware multi-view fusion network to make full use of external information and enhance signal map construction accuracy. To evaluate the performance of CSMC, we conduct extensive experiments and ablation studies on a large-scale dataset with over 200GB MCS signal records collected from Shanghai. Experimental results demonstrate that our model outperforms state-of-the-art baselines in the accuracy of signal estimation and user localization.

Map Construction Based on LiDAR Vision Inertial Multi-Sensor Fusion

In order to make up for the shortcomings of independent sensors and provide more reliable estimation, a multi-sensor fusion framework for simultaneous localization and mapping is proposed in this paper. Firstly, the light detection and ranging (LiDAR) point cloud is screened in the front-end processing to eliminate abnormal points and improve the positioning and mapping accuracy. Secondly, for the problem of false detection when the LiDAR is surrounded by repeated structures, the intensity value of the laser point cloud is used as the screening condition to screen out robust visual features with high distance confidence, for the purpose of softening. Then, the initial factor, registration factor, inertial measurement units (IMU) factor and loop factor are inserted into the factor graph. A factor graph optimization algorithm based on a Bayesian tree is used for incremental optimization estimation to realize the data fusion. The algorithm was tested in campus and real road environments. The experimental results show that the proposed algorithm can realize state estimation and map construction with high accuracy and strong robustness.

An 1853 Map of the Yoruba Country

This paper examines an 1853 map of Yorubaland that reflects the evangelisation discourse of the American Southern Baptist Convention. Starting from 1845, the SBC began an evangelical drive towards the ‘saving’ of Africans in West Africa as a form of self-compensation in their attempt to prove that they were not against ‘Black Africans’ in the United States. Yet there were geographical notions of distinguishing Africans to be converted but these views of the white Southern Baptist brethren were reframed owing to field experiences of the missionary-explorer in the early 1850s. Drawing on a critical cartographic approach, this article argues that this map was culturally constructed. This study explores the map construction within the contexts of evangelical zeal, the preconceived geographical theories of West Africa, and exploratory accounts of Thomas Bowen. Consequently, the article reveals the interconnectedness of the church, the missionary-explorer, African informants and the mapmaker in geographical knowledge production. As a result, the study concludes that an ideological perspective reflects in cartographic knowledge presented on the map.

Implementation and Application of Fall Detection on Mobile Perception Robot

With the rapid increase in the number of people living in the elderly population, reducing and dealing with the problem of falls in the elderly has become the focus of research for decades. It is impossible to completely eliminate falls in daily life and activities. Detecting a fall in time can protect the elderly from injury as much as possible. This article uses the Turtlebot robot and the ROS robot operating system, combined with simultaneous positioning and map construction technology, Monte Carlo positioning, A* path planning, dynamic window method, and indoor map navigation. The YOLO network is trained using the stance and fall data sets, and the YOLOv4 target detection algorithm is combined with the robot perception algorithm to finally achieve fall detection on the turtlebot robot, and use the average precision, precision, recall and other indicators to measure.

An Adaptive Pose Fusion Method for Indoor Map Construction

The vision-based robot pose estimation and mapping system has the disadvantage of low pose estimation accuracy and poor local detail mapping effects, while the modeling environment has poor features, high dynamics, weak light, and multiple shadows, among others. To address these issues, we propose an adaptive pose fusion (APF) method to fuse the robot’s pose and use the optimized pose to construct an indoor map. Firstly, the proposed method calculates the robot’s pose by the camera and inertial measurement unit (IMU), respectively. Then, the pose fusion method is adaptively selected according to the motion state of the robot. When the robot is in a static state, the proposed method directly uses the extended Kalman filter (EKF) method to fuse camera and IMU data. When the robot is in a motive state, the weighted coefficient is determined according to the matching success rate of the feature points, and the weighted pose fusion (WPF) method is used to fuse camera and IMU data. According to the different states, a series of new poses of the robot are obtained. Secondly, the fusion optimized pose is used to correct the distance and azimuth angle of the laser points obtained by LiDAR, and a Gauss–Newton iterative matching process is used to match the corresponding laser points to construct an indoor map. Finally, a pose fusion experiment is designed, and the EuRoc data and the measured data are used to verify the effectiveness of this method. The experimental results confirm that this method provides higher pose estimation accuracy compared with the robust visual inertial odometry (ROVIO) and visual-inertial ORB-SLAM (VI ORB-SLAM) algorithms. Compared with the Cartographer algorithm, this method provides higher two-dimensional map modeling accuracy and modeling performance.

Real-Time Web Map Construction Based on Multiple Cameras and GIS

Previous VideoGIS integration methods mostly used geographic homography mapping. However, the related processing techniques were mainly for independent cameras and the software architecture was C/S, resulting in large deviations in geographic video mapping for small scenes, a lack of multi-camera video fusion, and difficulty in accessing real-time information with WebGIS. Therefore, we propose real-time web map construction based on the object height and camera posture (RTWM-HP for short). We first consider the constraint of having a similar height for each object by constructing an auxiliary plane and establishing a high-precision homography matrix (HP-HM) between the plane and the map; thus, the accuracy of geographic video mapping can be improved. Then, we map the objects in the multi-camera video with overlapping areas to geographic space and perform the object selection with the multi-camera (OS-CDD) algorithm, which includes the confidence of the object, the distance, and the angle between the objects and the center of the cameras. Further, we use the WebSocket technology to design a hybrid C/S and B/S software framework that is suitable for WebGIS integration. Experiments were carried out based on multi-camera videos and high-precision geospatial data in an office and a parking lot. The case study’s results show the following: (1) The HP-HM method can achieve the high-precision geographic mapping of objects (such as human heads and cars) with multiple cameras; (2) the OS-CDD algorithm can optimize and adjust the positions of the objects in the overlapping area and achieve a better map visualization effect; (3) RTWM-HP can publish real-time maps of objects with multiple cameras, which can be browsed in real time through point layers and hot-spot layers through WebGIS. The methods can be applied to some fields, such as person or car supervision and the flow analysis of customers or traffic passengers.