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Navigation based on symbolic space models

Baras, Karolina; Moreira, Adriano; Meneses, Filipe
Fonte: IEEE Xplore Publicador: IEEE Xplore
Tipo: Conferência ou Objeto de Conferência
Publicado em 15/09/2010 Português
Relevância na Pesquisa
494.2641%
Existing navigation systems are very appropriate for car navigation, but lack support for convenient pedestrian navigation and cannot be used indoors due to GPS limitations. In addition, the creation and the maintenance of the required models are costly and time consuming, and are usually based on proprietary data structures. In this paper we describe a navigation system based on a human inspired symbolic space model. We argue that symbolic space models are much easier to create and to maintain, and that they can support routing applications based on self-locating through the recognition of nearby features. Our symbolic space model is supported by a federation of servers where the spatial descriptions are stored, and which provide interfaces for feeding and querying the model. Local models residing in different servers may be connected between them, thus contributing to the system scalability.; Fundação para a Ciência e a Tecnologia (FCT)

Uma solução para navegação indoor

Alves, Nair Isabel Braga Simões
Fonte: Universidade do Minho Publicador: Universidade do Minho
Tipo: Trabalho de Conclusão de Curso
Publicado em //2012 Português
Relevância na Pesquisa
430.4355%
Dissertação de mestrado integrado em Engenharia Biomédica; Os sistemas de localização e navegação indoor permitem determinar a posição de pessoas ou certos objetos em grandes edifícios, assim como ajudam na navegação e orientação dentro destes ambientes fechados. A sua aplicabilidade pode-se estender a diversas áreas, tais como: hospitalar, o turismo, e até infantaria militar ou um guia para invisuais. De acordo com as necessidades específicas de localização indoor, a abordagem clássica do GPS é inadequada, uma vez que este é completamente inoperacional em espaços fechados. A navegação indoor levanta assim desafios adicionais quando comparada com o outdoor. O interesse no indoor tem-se expandido significativamente, e como tal, diversos métodos têm vindo a ser estudados e apresentados, com resultados, custos e contextos bastante diferentes entre si. Dentro deste contexto, a presente dissertação tem como objetivo criar uma solução para a navegação no interior de edifícios, que resolva os problemas caraterísticos do indoor. Para tal, foi necessário fazer um levantamento bibliográfico, principalmente na web devido a ser uma área muito recente. Dessa pesquisa resultou uma avaliação dos métodos e soluções de indoor existentes. Perante a dificuldade de encontrar uma forma consensual de representar espaços indoor...

Indoor positioning and navigation, part III : navigation systems

Moreira, Adriano; Mautz, Rainer
Fonte: Taylor & Francis Publicador: Taylor & Francis
Tipo: Artigo de Revista Científica
Publicado em 01/02/2013 Português
Relevância na Pesquisa
622.0893%
In the age of automation the ability to navigate persons and devices in indoor environments has become increasingly important for a rising number of applications. With the emergence of global satellite positioning systems, the performance of outdoor navigation has become excellent, but many mass market applications require seamless navigation capabilities in all environments. Therefore indoor navigation has become a focus of research and development during the past decade. It has by now become apparent that there is no overall solution based on a single technology, such as that provided outdoors by satellite-based navigation.

Automated Generation of Indoor Accessibility Information for Mobility-Impaired Individuals

Kostic, Nemanja
Fonte: Universidade Nova de Lisboa Publicador: Universidade Nova de Lisboa
Tipo: Dissertação de Mestrado
Publicado em 29/01/2014 Português
Relevância na Pesquisa
617.8328%
Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.; One section of the general population that can greatly bene t from the current interest in indoor navigation systems comprises the various disabled groups. In developing assistive navigation systems an important issue is how to obtain information relevant for navigation from the perspective of these special user groups. The theory of a ordances coupled with computer-based simulation o ers a solution for automated extraction of this information from readily available sources - architectural oor plans. Simulation of movement in space can be used to derive a user-relative selection of accessible space by comparing the degree of match between the geometrical demands of navigation and the relevant physical properties of the environment. We also investigate what is the right level of representation of the environment for running the simulations as well as deriving higher-level networks of places and their connections that facilitate orientation and the interaction between user and navigation system.

Combining WLAN fingerprint-based localization with sensor data for indoor navigation using mobile devices

Garcia, Nadal Vicent Francisco
Fonte: Universidade Nova de Lisboa Publicador: Universidade Nova de Lisboa
Tipo: Dissertação de Mestrado
Publicado em 02/06/2014 Português
Relevância na Pesquisa
709.0853%
This project proposes an approach for supporting Indoor Navigation Systems using Pedestrian Dead Reckoning-based methods and by analyzing motion sensor data available in most modern smartphones. Processes suggested in this investigation are able to calculate the distance traveled by a user while he or she is walking. WLAN fingerprint- based navigation systems benefit from the processes followed in this research and results achieved to reduce its workload and improve its positioning estimations.

PERCEPT Indoor Navigation System for the Blind and Visually Impaired: Architecture and Experimentation

Ganz, Aura; Schafer, James; Gandhi, Siddhesh; Puleo, Elaine; Wilson, Carole; Robertson, Meg
Fonte: Hindawi Publishing Corporation Publicador: Hindawi Publishing Corporation
Tipo: Artigo de Revista Científica
Português
Relevância na Pesquisa
505.11473%
We introduce PERCEPT system, an indoor navigation system for the blind and visually impaired. PERCEPT will improve the quality of life and health of the visually impaired community by enabling independent living. Using PERCEPT, blind users will have independent access to public health facilities such as clinics, hospitals, and wellness centers. Access to healthcare facilities is crucial for this population due to the multiple health conditions that they face such as diabetes and its complications. PERCEPT system trials with 24 blind and visually impaired users in a multistory building show PERCEPT system effectiveness in providing appropriate navigation instructions to these users. The uniqueness of our system is that it is affordable and that its design follows orientation and mobility principles. We hope that PERCEPT will become a standard deployed in all indoor public spaces, especially in healthcare and wellness facilities.

Indoor Navigation by People with Visual Impairment Using a Digital Sign System

Legge, Gordon E.; Beckmann, Paul J.; Tjan, Bosco S.; Havey, Gary; Kramer, Kevin; Rolkosky, David; Gage, Rachel; Chen, Muzi; Puchakayala, Sravan; Rangarajan, Aravindhan
Fonte: Public Library of Science Publicador: Public Library of Science
Tipo: Artigo de Revista Científica
Publicado em 08/10/2013 Português
Relevância na Pesquisa
509.0853%
There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects—blind, low vision, blindfolded sighted, and normally sighted controls—were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.

NFC Internal: An Indoor Navigation System

Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem
Fonte: MDPI Publicador: MDPI
Tipo: Artigo de Revista Científica
Publicado em 27/03/2015 Português
Relevância na Pesquisa
520.6205%
Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability.

Spatial models for context-aware indoor navigation systems: A survey

AFYOUNI, Imad; RAY, Cyril; CLARAMUNT, Christophe
Fonte: Arts et Métiers ParisTech Publicador: Arts et Métiers ParisTech
Português
Relevância na Pesquisa
418.0015%
This paper surveys indoor spatial models developed for research fields ranging from mobile robot mapping, to indoor location-based services (LBS), and most recently to context-aware navigation services applied to indoor environments. Over the past few years, several studies have evaluated the potential of spatial models for robot navigation and ubiquitous computing. In this paper we take a slightly different perspective, considering not only the underlying properties of those spatial models, but also to which degree the notion of context can be taken into account when delivering services in indoor environments. Some preliminary recommendations for the development of indoor spatial models are introduced from a context-aware perspective. A taxonomy of models is then presented and assessed with the aim of providing a flexible spatial data model for navigation purposes, and by taking into account the context dimensions.

Exploration and analysis of sensor technologies for efficient indoor location-based services; Erfoschung und Analyse von Senortechnologien fuer die Implementierung effizienter Dienste zur Positionsbestimmung innerhalb Gebaeuden

Subramanian, Ponmalar Suguna
Fonte: Universidade de Tubinga Publicador: Universidade de Tubinga
Tipo: Dissertação
Português
Relevância na Pesquisa
424.15492%
In recent years, there is a mounting obligation for indoor location based services Comparable to outdoor location based services . Indoor guidance systems provide ample utilities to a user explicitly huge complex at shopping malls , hospitals and at vast libraries for any directed assistance. Pedestrian navigation is one such promising indoor location based service. Localization remains a basis for all location based services . Although, few pedestrian -based indoor localization are systems available in market , they lack either one of the attributes as such accuracy, reliability, scalability and / or expensive. GPS is not meant for indoors and even if so used at indoors , its relatively weak signal still stay a hurdle for any indoor location based services . In this dissertation , the aim is to build an efficient and precise indoor localization approach that can be implemented for most of the large indoor environments. The projected approach in this study incomparable to GPS that works outdoors will, remain eminently than other available indoor localization based approaches. All prerequisite for efficient localization such as accuracy, reliability, scalability, flexibility, availability, cost efficiency , minimum latency and robustness were evaluated reconstructed for this approach that is herewith demonstrated in my dissertation. The dissertation is structured as various chapters . Each of the chapter in this dissertation portrays novel methods utilizing major sensor technologies such as Bluetooth...

Indoor Navigation Using Asynchronous Pseudolites

BORIO DANIELE; GIOIA CIRO
Fonte: Institute of Space Technology and Space Application. Universität der Bundeswehr München Publicador: Institute of Space Technology and Space Application. Universität der Bundeswehr München
Tipo: Contributions to Conferences Formato: CD-ROM
Português
Relevância na Pesquisa
515.98816%
Indoor navigation using Global Navigation Satellite System (GNSS) signals is a challenging task which involves the solution of several problems such as signal attenuation, fading and measurements biases due to multipath propagation. A possible solution is represented by pseudolites or pseudo-satellites which have been considered for their ability to provide GNSS-like signals which could be used with minimal receiver hardware changes. In this paper, the potentialities of asynchronous pseudolites are investigated and the basic technology developed by the Japanese Aerospace Exploration Agency (JAXA) for their Indoor MEssaging System (IMES) is extended using a Received Signal Strength (RSS) approach. The final goal is to reduce the number of transmitters and increase the accuracy of the system with respect to proximity-based techniques. Asynchronous pseudolites have been implemented on Universal Software Radio Platforms (USRPs) and tested in a deep indoor environment. C/N0 measurements were obtained from the pseudolite signals and processed using a Least Squares (LS) approach. An improved algorithm was also design to take into account the quality of the different measurements. From the experiments, it emerged that three pseudolites are sufficient to enable indoor navigation in an office area of about 350 square meters with meter level accuracy. These results are particularly encouraging since they were obtained without exploiting map constraints and prior knowledge of the user position.; JRC.G.5-Security technology assessment

Image Retrieval using Landmark Indexing for Indoor Navigation

Sinha, Dwaipayan
Fonte: Quens University Publicador: Quens University
Tipo: Tese de Doutorado
Português
Relevância na Pesquisa
612.01758%
A novel approach is proposed for real-time retrieval of images from a large database of overlapping images of an indoor environment. The procedure extracts visual features from images using selected computer vision techniques, and processes the extracted features to create a reduced list of features annotated with the frame numbers they appear in. This method is named landmark indexing. Unlike some state-of-the-art approaches, the proposed method does not need to consider large image adjacency graphs because the overlap of the images in the map sufficiently increases information gain, and mapping of similar features to the same landmark reduces the search space to improve search efficiency. Empirical evidence from experiments on real datasets shows high (90-100%) accuracy in image retrieval, and improvement in search time from the order of 100-200 milliseconds to the order of 10-30 milliseconds. The image retrieval technique is also demonstrated by integrating it into a 3D real-time navigation system. This system is tested in several indoor environments and all experiments show accurate localization results in large indoor areas with errors in the order of 15-20 centimeters only.; Thesis (Master, Electrical & Computer Engineering) -- Queen's University...

Spatial models for context-aware indoor navigation systems: A survey

AFYOUNI, Imad; RAY, Cyril; CLARAMUNT, Christophe
Fonte: Arts et Métiers ParisTech Publicador: Arts et Métiers ParisTech
Português
Relevância na Pesquisa
522.2135%
This paper surveys indoor spatial models developed for research fields ranging from mobile robot mapping, to indoor location-based services (LBS), and most recently to context-aware navigation services applied to indoor environments. Over the past few years, several studies have evaluated the potential of spatial models for robot navigation and ubiquitous computing. In this paper we take a slightly different perspective, considering not only the underlying properties of those spatial models, but also to which degree the notion of context can be taken into account when delivering services in indoor environments. Some preliminary recommendations for the development of indoor spatial models are introduced from a context-aware perspective. A taxonomy of models is then presented and assessed with the aim of providing a flexible spatial data model for navigation purposes, and by taking into account the context dimensions.

Indoor localization and navigation for blind persons using visual landmarks and a GIS

Serrão, M.; Rodrigues, J. M. F.; Rodrigues, J. I.; du Buf, J. M. H.
Fonte: Universidade do Algarve Publicador: Universidade do Algarve
Tipo: Artigo de Revista Científica
Publicado em //2012 Português
Relevância na Pesquisa
502.39812%
In an unfamiliar environment we spot and explore all available information which might guide us to a desired location. This largely unconscious processing is done by our trained sensory a nd cognitive systems. These recognize and memorize sets of landmarks which allow us to create a mental map of the envi ronment, and this map enables us to navigate by exploiting very few but the most important landmarks stored in our memory. We present a system which integrates a geographic information system of a building with visu al landmarks for localizing the user in the building and for tracing and validating a route for the user's navigation. Hence, the developed system complements the white cane for improving the user's autonomy during indoor navigation. Although de signed for visually impaired persons, the system can be used by any person for wayfinding in a complex building.

An Indoor Navigation System for the Visually Impaired

Guerrero, Luis A.; Vasquez, Francisco; Ochoa, Sergio F.
Fonte: Molecular Diversity Preservation International (MDPI) Publicador: Molecular Diversity Preservation International (MDPI)
Tipo: Artigo de Revista Científica
Publicado em 13/06/2012 Português
Relevância na Pesquisa
509.0853%
Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user's trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.

Sistema de navegación monocular para robots móviles en ambientes interiores/exteriores; Vision-based mobile robot system for monocular navigation in indoor/outdoor environments

De Cristóforis, Pablo
Fonte: Facultad de Ciencias Exactas y Naturales. Universidad de Buenos Aires Publicador: Facultad de Ciencias Exactas y Naturales. Universidad de Buenos Aires
Tipo: info:eu-repo/semantics/doctoralThesis; tesis doctoral; info:eu-repo/semantics/publishedVersion Formato: application/pdf
Publicado em //2013 Português
Relevância na Pesquisa
417.26%
Uno de los desafíos actuales de la robótica móvil es alcanzar el mayor grado de autonomía, es decir, lograr que un robot desarrolle sus tareas sin la necesidad de un operador humano. El objetivo principal de este trabajo es el desarrollo de un nuevo sistema de navegación autónomo basado en visión para robot móviles en entornos interiores/exteriores. El sistema propuesto utiliza sólo una cámara y sensores de odometría, no depende de ningún sistema de localización externo o infraestructura similar. Además, es capaz de tratar con variaciones en el ambiente (por ejemplo, cambios de iluminación o estaciones del año) y satisface las restricciones para guiar al robot en tiempo real. Para alcanzar el objetivo de este trabajo, se propone un enfoque híbrido que hace uso de dos técnicas de navegación visual: una basada en segmentación de imágenes y otra basada en marcas visuales. Para representar el ambiente se construye un mapa topológico que puede ser interpretado como un grafo, donde las aristas corresponden a caminos navegables y los nodos a espacios abiertos. Para recorrer los caminos (aristas) se desarrolló un método original basado en segmentación y para navegar por los espacios abiertos (nodos) se realizó una mejora y adaptación de un método basado en marcas visuales. Se evaluaron diversos algoritmos de extracción de características distintivas de las imágenes para determinar cuál representa la mejor solución para el caso de la navegación basada en marcas visuales...

Step count algorithm adapted to indoor localization

Terra, Rui; Figueiredo, Lino; Barbosa, Ramiro S.; Anacleto, Ricardo
Fonte: ACM Press Publicador: ACM Press
Tipo: Conferência ou Objeto de Conferência
Publicado em //2013 Português
Relevância na Pesquisa
491.9754%
This paper presents a step count algorithm designed to work in real-time using low computational power. This proposal is our first step for the development of an indoor navigation system, based on Pedestrian Dead Reckoning (PDR). We present two approaches to solve this problem and compare them based in their error on step counting, as well as, the capability of their use in a real time system.

Indoor Navigation on Google Maps and Indoor Localization Using RSS Fingerprinting

Ramani, Sagar V.; Tank, Yagnik N.
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 22/05/2014 Português
Relevância na Pesquisa
513.20047%
Contrasting to advances in street/outdoor navigation, wall mounted maps and signs continue to be the primary reference indoor navigation in hospitals, malls, museums, etc. The proliferation of mobile devices and the growing demand for location aware systems that filter information based on currently device location have led to an increase in research and product development in this field. An attempt has been made to provide solution for indoor navigation on Google maps and to provide location of a user in a building using Wi-Fi signal strength on android Smartphone.; Comment: 3 pages, 2 figures, Published with International Journal of Engineering Trends and Technology (IJETT)

Deep Neural Network for Real-Time Autonomous Indoor Navigation

Kim, Dong Ki; Chen, Tsuhan
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Português
Relevância na Pesquisa
512.01758%
Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments. The additional fact that MAVs are not able to carry heavy weight or power consuming sensors, such as range finders, makes indoor autonomous navigation a challenging task. In this paper, we propose a practical system in which a quadcopter autonomously navigates indoors and finds a specific target, i.e., a book bag, by using a single camera. A deep learning model, Convolutional Neural Network (ConvNet), is used to learn a controller strategy that mimics an expert pilot's choice of action. We show our system's performance through real-time experiments in diverse indoor locations. To understand more about our trained network, we use several visualization techniques.

PERSONAL NAVIGATION: EXTENDING MOBILE MAPPING TECHNOLOGIES INTO INDOOR ENVIRONMENTS

GREJNER-BRZEZINSKA, D. A.; UFPR; TOTH, C. K.; MARKIEL, J. N.; MOAFIPOOR, S.; CZARNECKA, K.
Fonte: Universidade Federal do Paraná-UFPR Publicador: Universidade Federal do Paraná-UFPR
Tipo: info:eu-repo/semantics/article; info:eu-repo/semantics/publishedVersion; Artigo Avaliado pelos Pares Formato: application/pdf
Publicado em 11/03/2010 Português
Relevância na Pesquisa
519.3016%
This paper discusses some unconventional methods for indoor-outdoor navigation, based on the integration of self-contained sensors, including GPS, IMU, digital barometer, magnetometer compass, and a human locomotion model. The human locomotion model is used as navigation  sensor and it is handled by Artificial Intelligence (AI) techniques that form an adaptive knowledge-based system (KBS), which is trained during the GPS signal reception, and is used to support navigation under GPS-denied conditions. A complementary technique used in our solution, which facilitates indoor navigation, is the image-based method (Flash LADAR). In this paper, the system design and an example performance analysis in the mixed indoor-outdoor environment are presented.