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Indoor Localization and Navigation for Pervasive and Sensor-Based Computing Environment. Widyawan. Electrical Engineering and Information Technology Department Gadjah Mada University. Agenda. Vision of Pervasive Computing Indoor Localization Fingerprinting-based Indoor Localization
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Indoor Localization and Navigation for Pervasive and Sensor-Based Computing Environment Widyawan Electrical Engineering and Information Technology Department GadjahMada University
Agenda • Vision of Pervasive Computing • Indoor Localization • Fingerprinting-based Indoor Localization • Particle Filter algorithm • Pedestrian Dead Reckoning • Challenges Remain
Old Paradigm • For over forty years, computation has centered about machines, not people. We have catered to expensive computers, pampering them in air-conditioned rooms or carrying them around with us. Purporting to serve us, they have actually forced us to serve them …. [MIT Oxygen Project]
Vision of Pervasive Computing • In the future, computation will be human-centered. • It will be available everywhere but invisible (embedded sensors) • Post-desktop [Mark Weiser, 1988]
Features and Application • Features: • Transparent interfaces: gesture recognition, speed recognition • Context-aware: location and time • Example of Applications: • Print this document to Mr. Risanuri • Follow me GUI • Smart Building • Knowing user location is key … !
Localization Sensors Ultrasound Bluetooth WSN GPS RFID UWB
Methods Trilateration Multilateration Fingerprint Dead Reckoning
Applications Healthcare Industrial : Car Manufacture Retail Logistik www.ubiaware.com
Fingerprint and Conventional Algorithms • Pattern recognition algorithm: • kNN • ANN • But, it is not enough ! • Random noise • Non Gaussian system • Non linear filtering is needed
Bayesian Filtering Xt-1 Xt Xt+1 zt-1 zt Zt+1 Hidden Markov Model
Particle Filter for Localization motion model a posteriori distribution att=1 a posteriori distribution at t =0 measurement model
Measurement Model For incorporating sensor measurement into the particle filter Based on 3 types of dissimilarities Fingerprint
Dead Reckoning • Widely Used in
Applications • Pedestrian Dead Reckoning
Challenges and Opportunities • The ubiquity of accurate, low-powered sensors • The ‘killer’ applications • Energy saving, assisted living, office/productivity, convenience ? • Standards and interoperability • Privacy and Security • Internet of things • The RTLS market will grow from $153 Million in 2009 to $2.6 Billion in 2018