Abstract
While commercial solutions for precise indoor positioning exist, they are costly and require installation of additional infrastructure, which limits opportunities for widespread adoption. Inspired by robotics techniques of Simultaneous Localization and Mapping (SLAM) and computer vision approaches using structured light patterns, we propose a self-contained solution to precise indoor positioning that requires no additional environmental infrastructure. Evaluation of our prototype, called TrackSense, indicates that such a system can deliver up to 4 cm accuracy with 3 cm precision in rooms up to five meters squared, as well as 2 degree accuracy and 1 degree precision on orientation. We explain the design and performance characteristics of our prototype and demonstrate a feasible miniaturization that supports applications that require a single device localizing itself in a space. We also discuss extensions to locate multiple devices and limitations of this approach.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Active Bat. The BAT Ultrasonic Location System (2006), http://www.uk.research.att.com/bat/
Bahl, P., Padmanabhan, V.: RADAR: An In-Building RF-Based User Location and Tracking System. In: The Proc. of IEEE Infocom 2000, pp. 775–784. IEEE Press, Los Alamitos (2000)
Bouguet, J.Y., Perona, P.: 3D photography on your desk. In: ICCV’98, pp. 43–50 (1998)
Canny, J.: A Computational Approach to Edge Detection. IEEE Transactions on Pattern Analysis and Machine Intelligence 8(6) (1986)
Cao, X., Balakrishnan, R.: Interacting with dynamically defined information spaces using a handheld projector and a pen. In: Proc. of UIST 2006, pp. 225–234 (2006)
Cobzas, D., Sturm, P.: 3D SSD Tracking with Estimated 3D Planes. In the proc. In: Proc. of 2nd Canadian Conference on Computer and Robot Vision (CRV2005), pp. 129–134 (2005)
Davison, A., Cid, Y., Kita, N.: Real-Time 3D SLAM with Wide-Angle Vision. In: Proc. of IFAC Symposium on Intelligent Autonomous Vehicles (2004)
Dellaert, F., Tariq, S.: A Multi-Camera Pose Tracker for Assisting the Visually Impaired. In: 1st IEEE Workshop on Computer Vision Applications for the Visually Impaired (2005)
Dissanayake, M.W.M.G., et al.: A solution to the simultaneous localization and map building (slam) problem. IEEE Transactions on Robotics and Automation 17(3), 229–241 (2001)
Fischler, M., Bolles, R.: Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. Communications of the ACM 24(6), 381–395 (1981)
Forsyth, D.A., Ponce, J.: Computer Vision: A Modern Approach. Prentice-Hall, Englewood Cliffs (2002)
Harle, R.K., Hopper, A.: Cluster Tagging: Robust Fiducial Tracking for Smart Environments. In: 2nd International Workshop on Location- and Context-Awareness, May 2006, pp. 14–29 (2006)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge Press, Cambridge (2003)
Hightower, J., Borriello, G.: A Survey and Taxonomy of Location Systems for Ubiquitous Computing. University of Washington Tech. Report CSC-01-08-03 (2001)
Borriello, G., et al.: Place Lab: Device Positioning Using Radio Beacons in the Wild. In: Gellersen, H.-W., Want, R., Schmidt, A. (eds.) PERVASIVE 2005. LNCS, vol. 3468, pp. 116–133. Springer, Heidelberg (2005)
Kuhn, H.W.: The Hungarian Method for the assignment problem. Naval Research Logistic Quarterly (2), 83–97 (1955)
Lourakis, M.A., Argyros, A.A.: Vision-Based Camera Motion Recovery for Augmented Reality. In: Proc. of the Computer Graphics International (CGI 2004), pp. 569–576 (2004)
Liu, Y., Thrun, S.: Results for outdoor-SLAM using sparse extended information filters. In: Proc. of the IEEE International Conference on Robotics and Automation, pp. 1227–1233 (2003)
Madhavapeddy, A., Tse, A.: A Study of Bluetooth Propagation Using Accurate Indoor Location Mapping. In: Beigl, M., et al. (eds.) UbiComp 2005. LNCS, vol. 3660, pp. 105–122. Springer, Heidelberg (2005)
Munkres, J.: Algorithms for the Assignment and Transportation Problems. Journal of the Society of Industrial and Applied Mathematics 5(1), 32–38 (1957)
NorthStar. Evolution Robitcs (2007), http://www.evolution.com/products/northstar/
de Lara, E., et al.: Accurate GSM Indoor Localization. In: Beigl, M., et al. (eds.) UbiComp 2005. LNCS, vol. 3660, pp. 141–158. Springer, Heidelberg (2005)
Rekimoto, J., Abowd, G.D., Patel, S.N.: iCam: Precise at-a-Distance Interaction in the Physical Environment. In: Fishkin, K.P., et al. (eds.) PERVASIVE 2006. LNCS, vol. 3968, pp. 272–287. Springer, Heidelberg (2006)
Patel, S.N., Truong, K.N., Abowd, G.D.: PowerLine Positioning: A Practical Sub-Room-Level Indoor Location System for Domestic Use. In: Dourish, P., Friday, A. (eds.) UbiComp 2006. LNCS, vol. 4206, pp. 441–458. Springer, Heidelberg (2006)
Priyantha, N.B., Chakraborty, A., Balakrishnan, H.: The Cricket Location-Support System. In: Proc. of Mobicom, Boston, MA (August 2000)
Rekimoto, J., Ayatsuka, Y.: CyberCode: Designing Augmented Reality Environments with Visual Tags. In: Proc. of DARE 2000, Elsinore, Denmark, pp. 1–10 (2000)
Rachmielowski, A., Cobzas, D., Jagersand, M.: Robust SSD tracking with incremental 3D structure estimation. In: Proc. of Canadian Conference on Computer and Robot Vision (CRV) (2006)
Rekimoto, J., Katashi, N.: The World through the Computer: Computer Augmented Interaction with Real World Environments. In: Proc. of UIST 1995, Pittsburgh, PA, pp. 29–36 (1995)
Scharstein, D., Szeliski, R.: High-accuracy stereo depth maps using structured light. In: CVPR 2003, vol. 1, Madison, WI, June 2003, pp. 195–202 (2003)
Se, S., Lowe, D., Little, J.: Vision-Based Mobile Robot Localization and Mapping Using Scale-Invariant Features. In: Proc. of ICRA (2001)
Sukthankar, R., Stockton, R., Mullin, M.: Smarter Presentations: Exploiting Homography in Camera-Projector Systems. In: Proc. of ICCV (2001)
Sukthankar, R., Stockton, R., Mullin, M.: Automatic Keystone Correction for Camera-assisted Presentation Interfaces. In: Proc. of International Conference on Multimodal Interfaces (2000)
Tariq, S., Dellaert, F.: A Multi-Camera 6-DOF Pose Tracker. In: IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR), pp. 296–297 (2004)
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press, Cambridge (2005)
Ubisense (2006), http://www.ubisense.net
Vicon MX (2006), http://www.vicon.com/products/systems.html
Want, R., et al.: The active badge location system. ACM Transactions on Information Systems 10, 91–102 (1992)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer Berlin Heidelberg
About this paper
Cite this paper
Köhler, M., Patel, S.N., Summet, J.W., Stuntebeck, E.P., Abowd, G.D. (2007). TrackSense: Infrastructure Free Precise Indoor Positioning Using Projected Patterns. In: LaMarca, A., Langheinrich, M., Truong, K.N. (eds) Pervasive Computing. Pervasive 2007. Lecture Notes in Computer Science, vol 4480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72037-9_20
Download citation
DOI: https://doi.org/10.1007/978-3-540-72037-9_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72036-2
Online ISBN: 978-3-540-72037-9
eBook Packages: Computer ScienceComputer Science (R0)