ǂAn ǂautomated indoor localization system for online Bluetooth signal strength modeling using visual-inertial SLAM

Simon Tomažič (Author), Igor Škrjanc (Author)

Abstract

Indoor localization is becoming increasingly important but is not yet widespread because installing the necessary infrastructure is often time-consuming and labor-intensive, which drives up the price. This paper presents an automated indoor localization system that combines all the necessary components to realize low-cost Bluetooth localization with the least data acquisition and network configuration overhead. The proposed system incorporates a sophisticated visual-inertial localization algorithm for a fully automated collection of Bluetooth signal strength data. A suitable collection of measurements can be quickly and easily performed, clearly defining which part of the space is not yet well covered by measurements. The obtained measurements, which can also be collected via the crowdsourcing approach, are used within a constrained nonlinear optimization algorithm. The latter is implemented on a smartphone and allows the online determination of the beacons’ locations and the construction of path loss models, which are validated in real-time using the particle swarm localization algorithm. The proposed system represents an advanced innovation as the application user can quickly find out when there are enough data collected for the expected radiolocation accuracy. In this way, radiolocation becomes much less time-consuming and labor-intensive as the configuration time is reduced by more than half. The experiment results show that the proposed system achieves a good trade-off in terms of network setup complexity and localization accuracy. The developed system for automated data acquisition and online modeling on a smartphone has proved to be very useful, as it can significantly simplify and speed up the installation of the Bluetooth network, especially in wide-area facilities.

Keywords

lokalizacija v notranjem okolju;vizualnoinercialni SLAM;optimizacija z omejitvami;model izgub na prenosni poti;optimizacija z rojem delcev;Bluetooth z nizko porabo energije;svetilnik;indoor localization;visual-inertial SLAM;constrained optimization;path loss model;particle swarm optimization;Bluetooth low energy;beacon;

Data

Language:	English
Year of publishing:	2021
Typology:	1.01 - Original Scientific Article
Organization:	UL FE - Faculty of Electrical Engineering
UDC:	681.5:004
COBISS:	60483331
ISSN:	1424-8220
Views:	167
Downloads:	38
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	Slovenian
Secondary keywords:	lokalizacija v notranjem okolju;vizualnoinercialni SLAM;optimizacija z omejitvami;model izgub na prenosni poti;optimizacija z rojem delcev;Bluetooth z nizko porabo energije;svetilnik;
Type (COBISS):	Article
Pages:	str. 1-21
Volume:	ǂiss. ǂ8
Issue:	2857
Chronology:	Apr.-2 2021
DOI:	10.3390/s21082857
ID:	14704356