Indoor Mobility Map Construction and Localization Based on Wi-Fi Simultaneous Localization and Mapping Pixel Template Matching
ZHOU Mu①② LIU Yiyao① YANG Xiaolong① ZHANG Qiao① TIAN Zengshan①
①(Chongqing Key Laboratory of Mobile Communication Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China) ②(Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission, Tianjin Normal University, Tianjin 300387, China)
Abstract:This papers propose a novel integrated Wi-Fi and Micro Electronic Mechanical Systems (MEMS) indoor mobility map construction and localization approach. First of all, a method is proposed for constructing mobility map based on trajectory main path by applying the Pedestrian Dead Reckoning (PDR), Minimum Description Length (MDL), and Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithms to the processing process of crowdsourcing trajectories. Then a pixel template matching technique is innovatively presented to obtain the absolute position of the map. Finally, the robust Extended Kalman Filter (EKF) algorithm is utilized to estimate the optimal target position. Which means the Simultaneous Localization And Mapping (SLAM) are completed. The experimental results show that the method of proposed clustering can accurately distinguish the motion regions. Also, the precision positioning can be realized with less labor and time through matching the absolute position of the motion map in the real environment successfully.
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