SpringerBriefs in Computer Science

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1 SpringerBriefs in Computer Science Series editors Stan Zdonik, Brown University, Providence, RI, USA Shashi Shekhar, University of Minnesota, Minneapolis, MN, USA Xindong Wu, University of Vermont, Burlington, VT, USA Lakhmi C. Jain, University of South Australia, Adelaide, SA, Australia David Padua, University of Illinois Urbana-Champaign, Urbana, IL, USA Xuemin Sherman Shen, University of Waterloo, Waterloo, ON, Canada Borko Furht, Florida Atlantic University, Boca Raton, FL, USA V. S. Subrahmanian, University of Maryland, College Park, MD, USA Martial Hebert, Carnegie Mellon University, Pittsburgh, PA, USA Katsushi Ikeuchi, University of Tokyo, Tokyo, Japan Bruno Siciliano, University of Naples Federico II, Napoli, Italy Sushil Jajodia, George Mason University, Fairfax, VA, USA Newton Lee, Woodbury University, Burbank, CA, USA

2 SpringerBriefs present concise summaries of cutting-edge research and practical applications across a wide spectrum of fields. Featuring compact volumes of 50 to 125 pages, the series covers a range of content from professional to academic. Typical topics might include: A timely report of state-of-the art analytical techniques A bridge between new research results, as published in journal articles, and a contextual literature review A snapshot of a hot or emerging topic An in-depth case study or clinical example A presentation of core concepts that students must understand in order to make independent contributions Briefs allow authors to present their ideas and readers to absorb them with minimal time investment. Briefs will be published as part of Springer s ebook collection, with millions of users worldwide. In addition, Briefs will be available for individual print and electronic purchase. Briefs are characterized by fast, global electronic dissemination, standard publishing contracts, easy-to-use manuscript preparation and formatting guidelines, and expedited production schedules. We aim for publication 8 12 weeks after acceptance. Both solicited and unsolicited manuscripts are considered for publication in this series. More information about this series at

3 Ruipeng Gao Fan Ye Guojie Luo Jason Cong Smartphone-Based Indoor Map Construction Principles and Applications 123

4 Ruipeng Gao Beijing Jiaotong University Beijing China Fan Ye Stony Brook University Stony Brook, NY USA Guojie Luo Peking University Beijing China Jason Cong UCLA Los Angeles, CA USA ISSN ISSN (electronic) SpringerBriefs in Computer Science ISBN ISBN (ebook) Library of Congress Control Number: The Author(s) 2018 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd. part of Springer Nature The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore , Singapore

5 Preface This book focuses on the ubiquitous indoor localization services by specifically addressing the issue of floor plans. It combines the computer vision algorithms and mobile techniques to reconstruct the complete and accurate floor plans, thus providing better location-based services for both humans and vehicles via commodity smartphones in indoor environments (e.g., a multilayer shopping mall with underground parking structures). This book is based on Dr. Ruipeng Gao's PhD thesis co-supervised by Professors Jason Cong, Guojie Luo, and Fan Ye. The authors would like to thank the supports from NSFC and PKU/UCLA Joint Research Institute of Science and Engineering. Beijing, China January 2018 Ruipeng Gao v

6 Contents 1 Introduction of Indoor Map Construction Introduction... 1 Reference Indoor Map Construction via Mobile Crowdsensing Introduction Design Overview Landmark Modeling The Landmark Model Coordinates of Geometric Vertices Connecting Points of Wall Segments Example Landmark Placement Notations Spatial Relation Acquisition Problem Formulation Optimization Algorithm Map Augmentation Wall Reconstruction Hallway Reconstruction Room Reconstruction Connection Area Detection Types of Connection Areas Features Unsupervised Classification Refinement and Placement Types of Connection Areas Performance vii

7 viii Contents 2.8 Discussion Related Work Conclusion References Incremental Indoor Map Construction with a Single User Introduction Overview Localization via a Single Image Trajectory Calibration and Cleaning Trajectory Calibration Trajectory Cleaning Map Fusion Framework Dynamic Bayesian Network Particle Filter Algorithm Landmark Recognition Compartment Estimation Performance Discussion Related Work Conclusion References Indoor Localization by Photo-Taking of the Environment Introduction Relative Position Measurement Triangulation Method User Operations and Location Computation Criteria for Users to Choose Reference Objects Robustness of the Localization Primitive Site Survey for Reference Objects Coordinates Location Estimation in Unmapped Environments Experiments on Site Survey Identifying Chosen Reference Objects System Architecture and Workflow Benchmark Selection of Reference Objects Benchmark Selection Problem NP-Completeness Proof A Heuristic Algorithm Improve Localization with Geographical Constraints Experiment Results and Problems in Early Prototype Geographical Constraints System Localization Performance Discussion... 76

8 Contents ix 4.9 Related Work Conclusion References Smartphone-Based Real-Time Vehicle Tracking in Indoor Parking Structures Introduction Design Overview Trajectory Tracing Conventional Approaches Shadow Trajectory Tracing Equivalence Proof Real-Time Tracking Intuition Road Skeleton Model Probabilistic Tracking Framework Tracking Algorithms Landmark Detection Types of Landmarks Feature and Classification Algorithm Prediction and Rollback Performance Discussion Related Work Conclusions References

International Series in Operations Research & Management Science

International Series in Operations Research & Management Science Volume 240 Series Editor Camille C. Price Stephen F. Austin State University, TX, USA Associate Series Editor Joe Zhu Worcester Polytechnic