• Journal of Positioning, Navigation, and Timing
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• v.10 no.1
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• pp.49-54
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• 2021

Indoor positioning system becomes of increasing interests due to the demands for accurate indoor location information where Global Navigation Satellite System signal does not approach. Wi-Fi access points (APs) built in many construction in advance helps developing a Wi-Fi Received Signal Strength Indicator (RSSI) based indoor localization. This localization method first collects pairs of position and RSSI measurement set, which is called fingerprint database, and then estimates a user's position when given a query measurement set by comparing the fingerprint database. The challenge arises from nonlinearity and noise on Wi-Fi RSSI measurements and complexity of handling a large amount of the fingerprint data. In this paper, machine learning techniques have been applied to implement Wi-Fi based localization. However, most of existing indoor localizations focus on single position estimation. The main contribution of this paper is to develop multi-target localization by using deep neural, which is beneficial when a massive crowd requests positioning service. This paper evaluates the proposed multilocalization based on deep learning from a multi-story building, and analyses its learning effect as increasing number of target positions.

• Journal of Construction Engineering and Project Management
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• v.6 no.2
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• Journal of Korea Multimedia Society
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• v.19 no.8
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• pp.1424-1432
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• 2016

A person often needs to visit a facility that have not been visited before. In this case, it is necessary to easily identify the building in which the facility is located. Indoor navigation is also important, as the person may get lost due to the complex structure of buildings. To solve these problems, this paper presents a mobile application which provides a user with indoor place information and indoor navigation. A user is requested to take a photograph of a building of interest or of the current location. Then, the proposed application identifies the building of interest or the current location of the user by utilizing an image matching technique. For fast matching, database filtering by using GPS/magnetometer data and pre-extraction of features for images in the database are utilized. In case of indoor navigation, the application provides the actual images of check points as well as the moving direction. Simulation results show that the proposed system successfully identifies the location of users and provides place information and indoor navigation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.141-144
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• 1997

This paper presents a method of navigation sign recognition in indoor environments using a fuzzy inference for an autonomous mobile robot. In order to adapt to image deformation of a navigation sign resulted from variations of view-points and distances, a multi-labeled template matching(MLTM) method and a dynamic area search method(DASM) are proposed. The DASM is proposed to detect correct feature points among incorrect feature points. Finally sugeno-style fuzzy inference are adopted for recognizing the navigation sign.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.774-782
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• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.2
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• pp.121-130
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• 2021

In this paper, we propose a method to improve the positioning accuracy of TOA based indoor positioning system in NLOS environments. TOA based indoor positioning systems have been studied mostly considering LOS environments. However, it is almost impossible to maintain the LOS environments due to obstacles such as people, furniture, walls, and so on. The proposed method in this study compensates the range error caused by the NLOS environments. We confirmed that positioning accuracy of a proposed method is improved than conventional algorithms through simulation and field test.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.1
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• pp.23-30
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• 2014

Recently, Light Emitting Diode(LED) light is changing the light equipment, which was considered just as a power-controlled device in home-network, into a IT convergence device by combining illumination function with wireless communication. As a result, Visible Light Communication(VLC) becomes a more practical solution to ubiquitous networks due to the more spread of LED light. One of representative applications using VLC is a VLC-based indoor navigation system which can provide high-accuracy indoor localization. In this paper, we model and implement a VLC based-indoor navigation system in which a fluorescent light type of LED lamp, which is normally used in large buildings, and smart devices, which are usually used by users, are utilized as main components for indoor navigation. Subsequently, it is expected that the paper can contribute to make VLC applications be more active.

• Korean Institute of Interior Design Journal
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• v.22 no.5
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• pp.207-215
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• 2013

Due to an increase in the number of large-scale and high rise buildings, the importance of indoor location information has been highlighted. As a result, seamless three-dimensional space information, linked to various indoor and outdoor services is required. The purpose of this study is to develop a system which can edit and operate indoor space information using the IndoorGML(Geography Markup Language). It provides functions such as converting and editing authoring indoor space using the IndoorGML. Based on defined schema which is the IndoorGML international standardization work, we develop the "Editor" and "Viewer" for the IndoorGML. When indoor space is modeled in an authoring tool, a variety of topologies can be created automatically. These are available to be edited and modified. Moreover, the file of model can be saved as IndoorGML, SBM and KML file. These files are viewed by the "Viewer". Indoor LBS(Location Based Service)is served with these principles.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.231-239
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• 2010

For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.

• Proceedings of the Korean Society of Computer Information Conference
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• 2012.01a
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• pp.173-175
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• 2012

To spread the incredible experience of wandering around a building, we propose the architecture of indoor navigation system based on inter-floor. Firstly, we combine trilateration method with Fingerprint Positioning Algorithm for positioning and Dijkstra Algorithm for calculating paths. Then the system can get the user's current locations and provide relevant paths according to the user's choice. Moreover, it can also provide the navigation path which takes the inter-floor information into consideration. It breaks the traditional navigation based on planar graph and has abundant business value.