Browse > Article
http://dx.doi.org/10.3837/tiis.2012.03.004

A Hybrid Positioning System for Indoor Navigation on Mobile Phones using Panoramic Images  

Nguyen, Van Vinh (Department of Digital Contents, Sejong University)
Lee, Jong-Weon (Department of Digital Contents, Sejong University)
Publication Information
KSII Transactions on Internet and Information Systems (TIIS) / v.6, no.3, 2012 , pp. 835-854 More about this Journal
Abstract
In this paper, we propose a novel positioning system for indoor navigation which helps a user navigate easily to desired destinations in an unfamiliar indoor environment using his mobile phone. The system requires only the user's mobile phone with its basic equipped sensors such as a camera and a compass. The system tracks user's positions and orientations using a vision-based approach that utilizes $360^{\circ}$ panoramic images captured in the environment. To improve the robustness of the vision-based method, we exploit a digital compass that is widely installed on modern mobile phones. This hybrid solution outperforms existing mobile phone positioning methods by reducing the error of position estimation to around 0.7 meters. In addition, to enable the proposed system working independently on mobile phone without the requirement of additional hardware or external infrastructure, we employ a modified version of a fast and robust feature matching scheme using Histogrammed Intensity Patch. The experiments show that the proposed positioning system achieves good performance while running on a mobile phone with a responding time of around 1 second.
Keywords
Vision-based positioning; indoor navigation; location-based service; natural feature matching; panorama tracking; augmented reality;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)  (Related Records In Web of Science)
연도 인용수 순위
1 John Krumm, Steve Harris, Brian Meyers, Barry Brumitt, Michael Hale and Steve Shafer, "Multi camera Multi-person tracking easy living," Third IEEE International Workshop on Visual Surveillance, 2000.
2 Devin Smittle and Veselin, "Indoor localization on mobile phone platforms using adaptive dead reckoning," MU Summer Undergraduate Research and Creative Achievements Forum, Jul. 29, 2010.
3 Avinash Parnandi, Ken Le, Pradeep Vaghela, Aalaya Kolli, Karthik Dantu, Sameera Poduri and Gaurav S. Sukhatme, "Coarse In-Building Localization with Smartphones," MobiCASE, 2009.
4 C. Lukianto, C. Honniger and H. Sternberg, "Pedestrian smartphone based indoor navigation using ultra-portable sensory equipment," International Conference on Indoor Positioning and Indoor Navigation, 2010.
5 E. Martin, O. Vinyals, G. Friedland and R. Bajcsy, "Precise indoor localization using smart phones," in Proc. of ACM Multimedia, 2010.
6 C. Krishna, P. Anand and N.P. Venkata, "Indoor localization without the pain", in Proc. of the sixteenth annual international conference on Mobile computing and networking, 2010.
7 Viacheslav Filonenko, Charlie Cullen, James D. Carswell, "Investigating ultrasonic positioning on mobile phones," International Conference on Indoor Positioning and Indoor Navigation, 2010.
8 M. Zhu, "Novel positioning algorithms for RFID-assisted 2D MEMS INS systems," in Proc. of the Institute of Navigation.
9 G. Retscher and Q. Fu, "Using active RFID for positioning in navigation systems," in Proc. of the 4th International Symposium on Location Based Services and Telecartography, 2007.
10 M. Azizyan, I. Constandache and R.R. Choudhury, "Surroundsense: Mobile phone localization via ambience fingerprinting," in Proc. of ACM International Conference on Mobile Computing and Networking, 2009.
11 Yu-Sheng Lu, Chin-Feng Lai, Chia-Cheng Hu, Yueh-Min Huang and Xiao-Hu Ge, "Path loss exponent estimation for indoor wireless sensor positioning," KSII Transactions on Internet and Information Systems, vol.4, no.3, pp.243-257, Jun.2010.
12 S. Taylor, E. Rosten, and T.W. Drummond, "Robust feature matching in 2.3 microseconds," IEEE CVPR Workshop on Feature Detectors and Descriptors, Jun.2009.
13 Sinan Gezici, "A survey on wireless position estimation," Wireless Personal Communications: An International Journal, vol.44, no.3, pp.263-282, Feb.2008.   DOI   ScienceOn
14 M. Bouet, and A.L. dos Santos, "RFID tags: Positioning principles and localization techniques," IFIP Wireless Days, 2nd International Home Networking Conference, Nov.2008.
15 J. Karlekar, S. Zhou, W. Lu, Z. C. Loh, Y. Nakayama, and D. Hii, "Positioning, tracking and mapping for outdoor augmentation," in Proc. of IEEE/ACM International Symposium of Mixed and Augmented Reality, pp.175-184, 2010.
16 T. Mantoro, S. A. Saharuddin,and S. Selamat, "3D interactive mobile navigator structure and 2D map in campus environment using GPS," in Proc. of the 7th International Conference on Advances in Mobile Computing and Multimedia, Dec.2009.
17 Gabriel Takacs, Vijay Chandrasekhar, B. Girod et. al., "Outdoors augmented reality on mobile phone using Loxel based visual feature organization," in Proc. of ACM Multimedia Information Retrieval, Oct.2008.
18 G. Reitmayr and T. W. Drummond, "Going Out: Robust model based tracking for outdoor AR," in Proc. of IEEE/ACM International Symposium of Mixed and Augmented Reality, pp.109-118, 2006.
19 http://map.daum.net
20 A. Mulloni, D. Wagner, I. Barakonyi, and D. Schmalstieg, "Indoor Positioning and Navigation with Camera Phones," IEEE Pervasive Computing, 2009.
21 S. Saito, A. Hiyama, T. Tanikawa, and M. Hirose, "Indoor Marker-based localization using coded seamless pattern for interior decoration," Virtual Reality Conference, 2007.
22 E. Rosten and T. Drummond, "Machine learning for high speed corner detection," In Proc. of 9th Euproean Conference on Computer Vision, vol.1, pp.430-443, Apr.2006.
23 D.G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, pp.91-110, 2004.
24 K. Mikolajczyk, and C. Schmid, "A performance evaluation of local descriptors," In IEEE Transactions on Pattern Analysis and Machine Intelligence, 2005.
25 H. Bay, T. Tuyelaars, and L. Van Gool, "Speed-up robust features," ECCV, pp.404-417, 2006.
26 D. Wagner, G. Reitmayr, A. Mulloni, T. Drummond, and D. Schmalstieg, "Pose tracking from natural features on mobile phones," 7th IEEE/ACM International Symposium on Mixed and Augmented Reality, 2008.
27 M.A. Fischler and R.C. Bolles, "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography," Communication of the ACM, vol.24, no.6, pp.381-395, 1981.   DOI   ScienceOn
28 S. Taylor and T.W. Drummond, "Multiple target localisation at over 100 FPS," In British Machine Vision Conference, Sept.2009.
29 H. Hile and G. Borriello, "Information overlay for camera phones in indoor environments," In Location- and Context-Awareness, Third International Symposium, vol.4718, pp.68-84, 2007.
30 D. Nister and H. Stewenius, "Scalable recognition with a vocabulary tree," In Proc. of Conference on Computer Vision and Pattern Recognition, pp.2161-2168, 2006.
31 C. Arth, D. Wagner, M. Klopschitz, A. Irschara and D. Schmalstieg, "Wide area localization on mobile phones," International Symposium on Mixed and Augmented Reality, 2009.
32 L. Ni, Y. Liu, C. Yiu and A. Patil, "LANDMARC: Indoor Location Sensing Using Active RFID," In Wireles Networks entitled Pervasive Computnig and Communications, 2004.
33 R. Want, A. Hopper, V. Falcao and J. Gibbons, "The active badge location system," ACM Transactions on Information systems, vol.40, no.1, pp.91-102, Jan.1992.
34 A. Ward, A. Jones and A. Hopper, "A new location technique for the active office," IEEE Personal Communications, vol.4, no.5, pp.42-47, 1997.   DOI   ScienceOn
35 N.B. Priyantha, "The cricket indoor location system," PhD Thesis, pp.199, Jun.2005.
36 P. Bahl and V.N. Padmanabhan, "RADAR: An In-Building RF-based User Location and Tracking System," in Proc. of IEEE Nineteenth Annual Joint Conference of the IEEE Computer and Communications Societies, 2000.
37 M. Youssef and A. Agrawala, "The Horus WLAN location determination system," in Proc. of the 3rd international conference on Mobile systems, applications, and services, 2005.
38 S. Hay and R. Harle, "Bluetooth tracking without discoverability," in Proc. of 4th International Symposium on Location and Context Awareness, 2009.
39 V. Otsason, A. Varshavsky, A. LaMarca, E. de Lara, "Accurate gsm indoor localization," pp. 141-58, 2005.
40 A. Varshavsky, E. de Lara, J. Hightower, A. LaMarca, and V. Otsason, "GSM indoor localization," Pervasive and Mobile Computing, vol.3, no.6, pp.698-720, 2007.   DOI   ScienceOn
41 Jussi Collin, Oleg Mezentsev and Gerard Lachapelle, "Indoor positioning system using accelerometry and high accuracy heading sensors," in Proc. of GPS/GNSS 2003 Conference, Sept.2003.
42 R. Elias and A. Elnahas, "An accurate indoor localization technique using image matching," Intelligent Envionments, 2007.
43 H. Bay, "Interactive museumgGuide," in Proc. of UBICOMP, Sept.2005.
44 N. Ravi, P. Shankar, A. Frankel, A. Elgammal, and L. Itode, "Indoor localization using camera phones," in Proc. of IEEE Worshop on Mobile Computing Systems and Applications, 2006.