Abstract

Due to limited access to GPS signals, accurate and reliable localization still remains an open problem in indoor environments. This paper proposed a novel WiFi and Vision integrated fingerprint (Wi-Vi Fingerprint) for accurate and robust indoor localization. The method consists of two steps of fingerprint mapping and fingerprint localization. In the mapping step, the Wi-Vi fingerprints for all the sampling positions are computed by using EXIT signs as landmarks. In the localization step, a multi-scale localization strategy is proposed, which includes coarse localization with WiFi matching, image-level localization with visual matching, and finally metric localization for localization refinement. The proposed method has been tested in an indoor office building of 11,200 m2 with different types of smartphones. Experimental results demonstrate that the proposed method can achieve 96% site recognition rates for image-level localization. The final localization errors after metric localization are less than half meter in average.

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