Activity Sequence-Based Indoor Pedestrian Localization Using Smartphones
- 2 December 2014
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Human-Machine Systems
- Vol. 45 (5), 562-574
- https://doi.org/10.1109/thms.2014.2368092
Abstract
This paper presents an activity sequence-based indoor pedestrian localization approach using smartphones. The activity sequence consists of several continuous activities during the walking process, such as turning at a corner, taking the elevator, taking the escalator, and walking stairs. These activities take place when a user walks at some special points in the building, like corners, elevators, escalators, and stairs. The special points form an indoor road network. In our approach, we first detect the user's activities using the built-in sensors in a smartphone. The detected activities constitute the activity sequence. Meanwhile, the user's trajectory is reckoned by Pedestrian Dead Reckoning (PDR). Based on the detected activity sequence and reckoned trajectory, we realize pedestrian localization by matching them to the indoor road network using a Hidden Markov Model. After encountering several special points, the location of the user would converge on the true one. We evaluate our proposed approach using smartphones in two buildings: an office building and a shopping mall. The results show that the proposed approach can realize autonomous pedestrian localization even without knowing the initial point in the environments. The mean offline localization error is about 1.3 m. The results also demonstrate that the proposed approach is robust to activity detection error and PDR estimation error.Keywords
Funding Information
- Shenzhen Dedicated Funding of Strategic Emerging Industry Development Program (JCYJ20121019111128765)
- Shenzhen Scientific Research and Development Funding Program (ZDSY20121019111146499, JSGG20121026111056204, JCYJ20120817163755063, JCYJ20140418095735587)
- Major State Basic Research Development Program (2010CB732100)
- National Natural Science Foundation of China (41201483, 41301511, 41401444)
- China Postdoctoral Science Foundation (2013M542199, 2014M560671)
- Navinfo Innovation Funding Program
This publication has 43 references indexed in Scilit:
- ActionSLAM on a smartphone: At-home tracking with a fully wearable systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2013
- Improved actionSLAM for long-term indoor tracking with wearable motion sensorsPublished by Association for Computing Machinery (ACM) ,2013
- A performance model of pedestrian dead reckoning with activity-based location updatesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- A constraint approach for UWB and PDR fusionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- ActionSLAM: Using location-related actions as landmarks in pedestrian SLAMPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Opportunistic radio SLAM for indoor navigation using smartphone sensorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Smartphone-based pedestrian tracking in indoor corridor environmentsPersonal and Ubiquitous Computing, 2011
- Activity-Based Estimation of Human TrajectoriesIEEE Transactions on Robotics, 2011
- A Hidden Markov Model for pedestrian navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2010
- Hidden Markov map matching through noise and sparsenessPublished by Association for Computing Machinery (ACM) ,2009