Abstract
Smartphone indoor positioning ground truth is difficult to directly, dynamically, and precisely measure in real-time. To solve this problem, this paper proposes and implements a robust smartphone high-precision indoor positioning dynamic real-time ground truth reference system using color visual scatter-encoded targets based on machine vision and photogrammetry. First, a kind of novel high-precision color vision scatter-encoded patterns with a robust recognition rate is designed. Then we use a smartphone to obtain a sequence of images of an experimental room and extract the base points of the color visual scatter-encoded patterns from the sequence images to establish the indoor local coordinate system of the encoded targets. Finally, we use a high-efficiency algorithm to decode the targets of a real-time dynamic shooting image to obtain accurate instantaneous pose information of a smartphone camera and establish the high-precision and high-availability smartphone indoor positioning direct ground truth reference system for preliminary real-time accuracy evaluation of other smartphone positioning technologies. The experimental results show that the encoded targets of the color visual scatter-encoded pattern designed in this paper are easy to detect and identify, and the layout is simple and affordable. It can accurately and quickly solve the dynamic instantaneous pose of a smartphone camera to complete the self-positioning of the smartphone according to the artificial scatter feature visual positioning technology. It is a fast, efficient and low-cost accuracy-evaluation method for smartphone indoor positioning.
Highlights
A survey show that people spend more than 70% of their life indoors [1]
This paper proposes a kind of high recognition rate, large encoding capacity and good robustness color visual scatter-encoded patterns as a smartphone indoor positioning ground truth reference system for meeting the needs of frequently, freely, and obtaining the accuracy of indoor positioning tests of smartphones with a low cost in daily experiments
While using other positioning methods to carry out a smartphone positioning experiment at the same time, the proposed true value reference system could dynamically self-locate the instantaneous pose of a smartphone in real-time
Summary
A survey show that people spend more than 70% of their life indoors [1]. Indoor spaces that people frequently enter and exit, such as airports, stations, supermarkets, hospitals, shopping centers, museums, libraries, and underground parking lots, have a high demand for location services.Based on smartphone outdoor positioning technology, positioning accuracy is less than 1 m with the help of a Global Navigation Satellite System (GNSS) signal. A survey show that people spend more than 70% of their life indoors [1]. Indoor spaces that people frequently enter and exit, such as airports, stations, supermarkets, hospitals, shopping centers, museums, libraries, and underground parking lots, have a high demand for location services. Based on smartphone outdoor positioning technology, positioning accuracy is less than 1 m with the help of a Global Navigation Satellite System (GNSS) signal. High-availability indoor positioning accuracy is between two and three meters, based on current technologies. Scientists and industrial researchers in many countries are working on indoor positioning technology with a highly available accuracy of 1 m [2]. Indoor positioning methods for smartphones are mainly based on active radio frequency signals such as Wi-Fi and Bluetooth, and built-in sensors for indoor positioning such as geomagnetism, inertial navigation, and vision [3].
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