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Sensors 2017, 17(12), 2847;

Scene Recognition for Indoor Localization Using a Multi-Sensor Fusion Approach

State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China
Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China
School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
Authors to whom correspondence should be addressed.
Received: 20 October 2017 / Revised: 23 November 2017 / Accepted: 28 November 2017 / Published: 8 December 2017
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After decades of research, there is still no solution for indoor localization like the GNSS (Global Navigation Satellite System) solution for outdoor environments. The major reasons for this phenomenon are the complex spatial topology and RF transmission environment. To deal with these problems, an indoor scene constrained method for localization is proposed in this paper, which is inspired by the visual cognition ability of the human brain and the progress in the computer vision field regarding high-level image understanding. Furthermore, a multi-sensor fusion method is implemented on a commercial smartphone including cameras, WiFi and inertial sensors. Compared to former research, the camera on a smartphone is used to “see” which scene the user is in. With this information, a particle filter algorithm constrained by scene information is adopted to determine the final location. For indoor scene recognition, we take advantage of deep learning that has been proven to be highly effective in the computer vision community. For particle filter, both WiFi and magnetic field signals are used to update the weights of particles. Similar to other fingerprinting localization methods, there are two stages in the proposed system, offline training and online localization. In the offline stage, an indoor scene model is trained by Caffe (one of the most popular open source frameworks for deep learning) and a fingerprint database is constructed by user trajectories in different scenes. To reduce the volume requirement of training data for deep learning, a fine-tuned method is adopted for model training. In the online stage, a camera in a smartphone is used to recognize the initial scene. Then a particle filter algorithm is used to fuse the sensor data and determine the final location. To prove the effectiveness of the proposed method, an Android client and a web server are implemented. The Android client is used to collect data and locate a user. The web server is developed for indoor scene model training and communication with an Android client. To evaluate the performance, comparison experiments are conducted and the results demonstrate that a positioning accuracy of 1.32 m at 95% is achievable with the proposed solution. Both positioning accuracy and robustness are enhanced compared to approaches without scene constraint including commercial products such as IndoorAtlas. View Full-Text
Keywords: indoor scene recognition; deep learning; indoor localization; WiFi; magnetic field strength; particle filter; smartphone indoor scene recognition; deep learning; indoor localization; WiFi; magnetic field strength; particle filter; smartphone

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Liu, M.; Chen, R.; Li, D.; Chen, Y.; Guo, G.; Cao, Z.; Pan, Y. Scene Recognition for Indoor Localization Using a Multi-Sensor Fusion Approach. Sensors 2017, 17, 2847.

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