Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking
The lack of indoor floor plans is one of the major obstacles to ubiquitous indoor location-based services. Dedicated mobile robots with high-precision sensors can measure and produce accurate indoor maps, but the deployment remains low for the public. Computer vision techniques are adopted by some e...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/2/205 |
| _version_ | 1797619788017565696 |
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| author | Chuize Meng Shan Jiang Mengning Wu Xuan Xiao Dan Tao Ruipeng Gao |
| author_facet | Chuize Meng Shan Jiang Mengning Wu Xuan Xiao Dan Tao Ruipeng Gao |
| author_sort | Chuize Meng |
| collection | DOAJ |
| description | The lack of indoor floor plans is one of the major obstacles to ubiquitous indoor location-based services. Dedicated mobile robots with high-precision sensors can measure and produce accurate indoor maps, but the deployment remains low for the public. Computer vision techniques are adopted by some existing smartphone-based methods to build the 3D point cloud, which have the cost of a quantity of the efforts of image collection and the risk of privacy issues. In this paper, we propose BatMapper-Plus which adopt acoustic ranging and inertial tracking to construct precise and complete indoor floor plans on smartphones. It emits acoustic signals to measure the distance from the smartphone to a neighbouring wall segment, and produces accessible areas by surrounding the building during walking. It also refines the constructed indoor floor plan to eliminate scattered segments, and identifies connection areas, including stairs and elevators among different floors. In addition, we propose an LSTM-based dead-reckoning model which is trained by outdoor IMU readings and GPS records, and use it to infer the step length during indoor walking, thereby improving the floor plan quality. We also elaborate how to use the constructed map for indoor navigation, i.e., a Dynamic Time Warping algorithm which automatically matches current inertial readings and historical sensory data during map construction to produce fine-grained walking guidance. To show our effectiveness compared with the state-of-the-art, we carry out extensive experiments in a teaching building and a residential building. It proves that our method is efficient without any privacy concerns and texture/illumination limitations. |
| first_indexed | 2024-03-11T08:31:49Z |
| format | Article |
| id | doaj.art-be997e650b8f4f16a888b7dd90cedb8e |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T08:31:49Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-be997e650b8f4f16a888b7dd90cedb8e2023-11-16T21:45:20ZengMDPI AGMachines2075-17022023-02-0111220510.3390/machines11020205Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial TrackingChuize Meng0Shan Jiang1Mengning Wu2Xuan Xiao3Dan Tao4Ruipeng Gao5School of Software Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Software Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Software Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Software Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Software Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Software Engineering, Beijing Jiaotong University, Beijing 100044, ChinaThe lack of indoor floor plans is one of the major obstacles to ubiquitous indoor location-based services. Dedicated mobile robots with high-precision sensors can measure and produce accurate indoor maps, but the deployment remains low for the public. Computer vision techniques are adopted by some existing smartphone-based methods to build the 3D point cloud, which have the cost of a quantity of the efforts of image collection and the risk of privacy issues. In this paper, we propose BatMapper-Plus which adopt acoustic ranging and inertial tracking to construct precise and complete indoor floor plans on smartphones. It emits acoustic signals to measure the distance from the smartphone to a neighbouring wall segment, and produces accessible areas by surrounding the building during walking. It also refines the constructed indoor floor plan to eliminate scattered segments, and identifies connection areas, including stairs and elevators among different floors. In addition, we propose an LSTM-based dead-reckoning model which is trained by outdoor IMU readings and GPS records, and use it to infer the step length during indoor walking, thereby improving the floor plan quality. We also elaborate how to use the constructed map for indoor navigation, i.e., a Dynamic Time Warping algorithm which automatically matches current inertial readings and historical sensory data during map construction to produce fine-grained walking guidance. To show our effectiveness compared with the state-of-the-art, we carry out extensive experiments in a teaching building and a residential building. It proves that our method is efficient without any privacy concerns and texture/illumination limitations.https://www.mdpi.com/2075-1702/11/2/205floor plan constructionacoustic ranginginertial trackingindoor navigation |
| spellingShingle | Chuize Meng Shan Jiang Mengning Wu Xuan Xiao Dan Tao Ruipeng Gao Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking Machines floor plan construction acoustic ranging inertial tracking indoor navigation |
| title | Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking |
| title_full | Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking |
| title_fullStr | Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking |
| title_full_unstemmed | Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking |
| title_short | Smartphone-Based Indoor Floor Plan Construction via Acoustic Ranging and Inertial Tracking |
| title_sort | smartphone based indoor floor plan construction via acoustic ranging and inertial tracking |
| topic | floor plan construction acoustic ranging inertial tracking indoor navigation |
| url | https://www.mdpi.com/2075-1702/11/2/205 |
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