PEOPLEx: IMU・UWB・BLE・WiFiを活用した歩行者向け機会利用型測位
PEOPLEx: PEdestrian Opportunistic Positioning LEveraging IMU, UWB, BLE and WiFi
IMUによる歩行者慣性航法を基盤に、利用可能なUWB・BLE・WiFi信号を機会利用的に統合する非線形因子グラフ最適化フレームワークを提案し、商用スマートフォンで屋内測位精度を向上させた。
著者: Pierre-Yves Lajoie, Bobak Hamed Baghi, Sachini Herath, Francois Hogan, Xue Liu, Gregory Dudek
分類: cs.RO
原文アブストラクト
This paper advances the field of pedestrian localization by introducing a unifying framework for opportunistic positioning based on nonlinear factor graph optimization. While many existing approaches assume constant availability of one or multiple sensing signals, our methodology employs IMU-based pedestrian inertial navigation as the backbone for sensor fusion, opportunistically integrating Ultra-Wideband (UWB), Bluetooth Low Energy (BLE), and WiFi signals when they are available in the environment. The proposed PEOPLEx framework is designed to incorporate sensing data as it becomes available, operating without any prior knowledge about the environment (e.g. anchor locations, radio frequency maps, etc.). Our contributions are twofold: 1) we introduce an opportunistic multi-sensor and real-time pedestrian positioning framework fusing the available sensor measurements; 2) we develop novel factors for adaptive scaling and coarse loop closures, significantly improving the precision of indoor positioning. Experimental validation confirms that our approach achieves accurate localization estimates in real indoor scenarios using commercial smartphones.
