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Through-the-wall human motion indication using sparsity-driven change detection / F. Ahmad in IEEE Transactions on geoscience and remote sensing, vol 51 n° 2 (February 2013)
[article]
Titre : Through-the-wall human motion indication using sparsity-driven change detection Type de document : Article/Communication Auteurs : F. Ahmad, Auteur ; M. Amin, Auteur Année de publication : 2013 Article en page(s) : pp 881 - 890 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image radar et applications
[Termes IGN] détection à travers-le-mur
[Termes IGN] détection de changement
[Termes IGN] filtrage du signal
[Termes IGN] fouillis d'échos
[Termes IGN] image radar
[Termes IGN] objet mobile
[Termes IGN] positionnement en intérieur
[Termes IGN] reconstruction d'imageRésumé : (Auteur) We consider sparsity-driven change detection (CD) for human motion indication in through-the-wall radar imaging and urban sensing applications. Stationary targets and clutter are removed via CD, which converts a populated scene into a sparse scene of a few human targets moving inside enclosed structures and behind walls. We establish appropriate CD models for various possible human motions, ranging from translational motions to sudden short movements of the limbs, head, and/or torso. These models permit scene reconstruction within the compressive sensing framework. Results based on laboratory experiments show that a sizable reduction in the data volume is achieved using the proposed approach without a degradation in system performance. Numéro de notice : A2013-083 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1109/TGRS.2012.2203310 En ligne : https://doi.org/10.1109/TGRS.2012.2203310 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=32221
in IEEE Transactions on geoscience and remote sensing > vol 51 n° 2 (February 2013) . - pp 881 - 890[article]Exemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 065-2013021 RAB Revue Centre de documentation En réserve L003 Disponible Accuracy evaluation for automated optical indoor positioning using a camera phone / V. Händler in ZFV, Zeitschrift für Geodäsie, Geoinformation und Landmanagement, vol 137 n° 2 (01/03/2012)
[article]
Titre : Accuracy evaluation for automated optical indoor positioning using a camera phone Type de document : Article/Communication Auteurs : V. Händler, Auteur ; V. Willert, Auteur Année de publication : 2012 Article en page(s) : pp 114 - 122 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] analyse comparative
[Termes IGN] classification
[Termes IGN] estimation de précision
[Termes IGN] GNSS assisté pour la navigation
[Termes IGN] image terrestre
[Termes IGN] porte
[Termes IGN] positionnement en intérieur
[Termes IGN] relèvement
[Termes IGN] système optique
[Termes IGN] téléphone intelligentRésumé : (Auteur) In this paper, we focus on the accuracy of optical indoor positioning and the design of an automated and mobile positioning system based on pictures taken by a cell phone camera. We restrict ourselves to automated relative pose estimation given only one image including the projection of an object with four reference points with known image and world coordinates. To infer the relative pose from the image coordinates of the reference points, we first have to detect and classify an object, afterwards localize the image coordinates, and finally apply spatial resection. We show, that if an object is correctly classified, then the quality of the positioning heavily depends on the accuracy of the localization of the image coordinates and on the choice of the spatial resection algorithm. To this end, we compare three different spatial resection algorithms and present two combinations of object classification and image coordinate localization techniques using doors as known objects. Statistical evaluations are provided to judge the different classification methods in terms of robustness and to present the accuracy of the image coordinate localization techniques. Numéro de notice : A2012-267 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=31713
in ZFV, Zeitschrift für Geodäsie, Geoinformation und Landmanagement > vol 137 n° 2 (01/03/2012) . - pp 114 - 122[article]Exemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 199-2012021 RSREV Revue Centre de documentation Revues en salle Disponible Mapping the indoor world: towards crowdsourcing geographic information about indoor spaces / M. Goetz in GIM international, vol 26 n° 3 (March 2012)
[article]
Titre : Mapping the indoor world: towards crowdsourcing geographic information about indoor spaces Type de document : Article/Communication Auteurs : M. Goetz, Auteur ; Alexander Zipf, Auteur Année de publication : 2012 Article en page(s) : pp 30 - 35 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] carte d'intérieur
[Termes IGN] données localisées des bénévoles
[Termes IGN] OpenStreetMap
[Termes IGN] positionnement en intérieur
[Termes IGN] production participativeRésumé : (Auteur) The availability of mobile devices for all has boosted the demand for indoor location-based services such as indoor routing or indoor navigation. Both researchers and companies are trying to adapt well-known outdoor solutions to the requirements of indoor spaces. Crowdsourced geographic information is already a promising new data source for outdoor applications. A logical next step would be to apply this novel paradigm to the indoor world. The authors propose and discuss a new model that extends the scope of Volunteered Geographic Information (VGI) communities - essentially OpenStreetMap - towards indoor spaces. This enables the open collection and usage of indoor information such as emergency navigation in a hotel or personal navigation at the airport. Hence, large-scale availability of indoor VGI would have a positive social impact and add value in many different areas. Numéro de notice : A2012-057 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT/SOCIETE NUMERIQUE Nature : Article DOI : sans En ligne : http://www.gim-international.com/content/article/mapping-the-indoor-world Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=31505
in GIM international > vol 26 n° 3 (March 2012) . - pp 30 - 35[article]Ableitung von Bewegungsstrategien zur automatisierten, vollständigen Vermessung von Innerraumszenen auf autonom navigierender Plattform / Alexander Fietz (2012)
Titre : Ableitung von Bewegungsstrategien zur automatisierten, vollständigen Vermessung von Innerraumszenen auf autonom navigierender Plattform Titre original : [Détournement (ou dérivation) de stratégies de mouvement pour la mesure complète et automatisée de scènes spatiales intérieures sur la plate-forme de navigation autonome] Type de document : Thèse/HDR Auteurs : Alexander Fietz, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2012 Collection : DGK - C Sous-collection : Dissertationen num. 685 Importance : 164 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-7696-5097-6 Note générale : Bibliographie Langues : Allemand (ger) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] bloc photo
[Termes IGN] caméra numérique
[Termes IGN] compensation par faisceaux
[Termes IGN] données lidar
[Termes IGN] données localisées 2D
[Termes IGN] données localisées 3D
[Termes IGN] lasergrammétrie
[Termes IGN] photogrammétrie terrestre
[Termes IGN] plateforme
[Termes IGN] positionnement en intérieur
[Termes IGN] reconstruction 3D
[Termes IGN] robot
[Termes IGN] segment de droite
[Termes IGN] semis de points
[Termes IGN] système de numérisation mobile
[Termes IGN] tachéomètre électronique
[Termes IGN] varianceRésumé : (Auteur) A fundamental task of an autonomous mobile robot is the ability of self-localization in its environment respectively in a map of it, available to the robot. Many applications require a localization that is as precise as possible. Thereby, a decisive factor is the accuracy but also the completeness of the map. The generated map can usually be seen as a necessary side-product. When considered from a surveying point of view, it is brought more into focus. The question is to what extent the spatial robot data can fulfill certain mapping requirements in terms of accuracy and completeness in a detailed enough manner to be useful to human users. Precise models of indoor environments are very useful in both public and private sectors. But since their procurement involves a great deal of effort, an automatical generation of indoor models is desirable.
The following thesis should make a contribution to this and tries to compose the techniques that are necessary to deliver interior models at the push of a button. Therefore, a mobile measuring system was designed, that is able to carry out complete and precise measurements of indoor environments. The system was build up in two stages. A mobile platform is equipped with a low-cost laser scanner in the basic stage. This build-up allows a precise exploration of indoor scenes in 2D. In an expansion stage the installation of a digital camera leads to an additional 3D reconstruction based on photogrammetric techniques.
The accuracy and quality of robotic mapping is primarily dependent on the sensors that are used. The software process to register the collected data in a common coordinate frame and to create a holistic map of the environment has an additional influence. In the field of scanning systems scan matching techniques or probabilistic filter approaches are used. In the case of 3D surveying, a photogrammetric reconstruction can be done by an estimation of feature points, which are extracted from a photo block, within a bundle adjustment process. Results can be optimized, if requirements and restrictions of these techniques are regarded in the data acquisition process, when the robot proceeds the exploration. A crucial aspect is the spatial sensor placement at a certain point of time in this process. In the field of robotics, sensor placement is controlled by positioning strategies, which normally are of overriding importance to all other processes. The majority of known positioning strategies have the primary aim to optimize the efficiency of the exploration, so that every measurement provides as much new spatial information as possible. Requirements of the data registration technique are neglected in contrast. This thesis presents positioning strategies for scanning 2D measurements as well as photogrammetric 3D measurements, which try to maximize the accuracy of the collected spatial data. A scanning 2D measuring system, which is able to explore previously unknown indoor environments and generate precise floor plans is presented in the first part of this thesis. The system iteratively visits measurement poses defined by a positioning strategy. 2D point clouds, collected at various positions, are transformed into a common coordinate system by the use of a scan matching technique. The latter takes advantage of the characteristic manifestation of office environments and extracts planar segments from the measured point clouds. Minimizing the sum of perpendicular distances to these segments, points of a new scan are transformed into the existing coordinate system with high accuracy. Precision and robustness are improved through iterative parameter refinement. The measuring system uses a positioning strategy, which is based on the global assumption that the environment can be described as a collection of line segments. Since segment ends indicate data gaps, exploration is pushed until their observation is complete. All accessible measuring positions, represented in an occupancy grid, are evaluated in terms of their explorative benefit by the strategy using a cost function. Exploration is stopped as soon as every section is observed with a desired resolution.
The second part of this work presents a positioning strategy to enable the recording of photo blocks that are suitable for a photogrammetric reconstruction. In the run-up of data acquisition possible pose configurations are determined using accuracy estimation. The assumption of plain environments allows a limitation to a 2D search problem regarding the choice of possible camera poses, whereby the combinatorial variety is reduced. Initial information of pose estimation provides a 2D map, generated by the system structure that was presented in the first part of this work. For predefined sections of the environment, pseudo-random pose constellations are derived iteratively from the map and compared with each other using a cost function. The cost function helps to predict the variances resulting from a bundle adjustment. Therefore the functional model of the bundle adjustment has to be projected on the R2 in a way that a geodetic network consisting of direction measurements remains. The size and the shape of the resulting error ellipses allow conclusions and a comparative consideration regarding the quality of camera pose candidates.
An essential part of the work is the empirical analysis of the systems, to evaluate their performance and the quality of the resulting spatial data. Various experiments in real indoor environments show that developed measurement methods can be applied in practice. In different sets of experiments initial conditions are varied to find out their influence on the measurement process or the result. In order to achieve reliable results, reference models of the experimental environments were created by the use of a total station.
In the case of scanner measurements, experiments show that the developed system is able to explore and measure also complex interiors. An examination of the point clouds show that the achieved accuracy comes up with surveying demands. On this issue, the presented technique outplays conventional measuring equipment. However, additional modeling shows that mainly fine structures of the environment are displayed wrongly or are even lost completely. Also the 3D measuring strategy is demonstrably superior to existing techniques. The purely passive technique leads to sparse point clouds, not dense enough to derive detailed environment models with the corresponding software.Numéro de notice : 14621 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : sans En ligne : https://www.ifp.uni-stuttgart.de/dokumente/Dissertationen/diss-fietz-c-685.pdf Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62672
Titre : Indoor positioning technologies Type de document : Thèse/HDR Auteurs : R. Mautz, Auteur Editeur : Zurich : Schweizerischen Geodatischen Kommission / Commission Géodésique Suisse Année de publication : 2012 Collection : Geodätisch-Geophysikalische Arbeiten in der Schweiz, ISSN 0257-1722 num. 86 Importance : 122 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-908440-31-4 Note générale : Bibliographie
Habilitation ThesisLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] analyse comparative
[Termes IGN] caméra vidéo
[Termes IGN] couplage GNSS-INS
[Termes IGN] GNSS assisté pour la navigation
[Termes IGN] navigation inertielle
[Termes IGN] onde radioélectrique
[Termes IGN] positionnement en intérieur
[Termes IGN] précision métrique
[Termes IGN] pseudolite
[Termes IGN] rayonnement infrarouge
[Termes IGN] réseau local sans filIndex. décimale : 30.70 Navigation et positionnement Résumé : (Auteur) In the age has of automation the ability to navigate persons and devices in indoor environments has become increasingly important for a rising number of applications. With the emergence of global satellite positioning systems, the performance of outdoor positioning has become excellent, but many mass market applications require seamless positioning capabilities in all environments. Therefore indoor positioning has become a focus of research and development during the past decade. It has by now become apparent that there is no overall solution based on a single technology, such as that provided outdoors by satellite-based navigation. We are still far away from achieving cheap provision of global indoor positioning with an accuracy of 1 meter. Current systems require dedicated local infrastructure and customized mobile units. As a result, the requirements for every application must be analyzed separately to provide an individually tailored solution. Therefore it is important to assess the performance parameters of all technologies capable of indoor positioning and match them with the user requirements which have to be described precisely for each application. Such descriptions must be based on a market analysis where the requirements parameters need to be carefully weighed against each other. The number of relevant requirements parameters is large (e.g. accuracy, coverage, integrity, availability, update rate, latency, costs, infrastructure, privacy, approval, robustness, intrusiveness etc.). But also the diversity of different technologies is large, making it a complex process to match a suitable technology with an application. At the highest level, all technologies can be divided into categories employing three different physical principles: inertial navigation (accelerometers and gyroscopes maintaining angular momentum), mechanical waves (i.e. audible and ultra-sound) and electromagnetic waves (i.e. using the visible, infrared, microwave and radio spectrum). Systems making use of the radio spectrum include FM radios, radars, cellular networks, DECT phones, WLAN, ZigBee RFID, ultra-wideband, high sensitives GNSS and pseudolite systems.
This thesis categorizes all sighted indoor positioning approaches into 13 distinct technologies and describes the measuring principles of each. Individual approaches are characterized and key performance parameters are quantified. For a better overview, these parameters are briefly compared in table form for each technology.Note de contenu : 1 Introduction
1.1 Motivation
1.2 Previous Surveys
1.3 Overview of Technologies
1.4 Indoor Positioning Applications
1.5 Structure of this Work
2 User
2.1 Requirements Parameters Overview
2.2 Positioning Requirements Parameters Definition
2.3 Man Machine Interface Requirements
2.4 Security and Privacy Requirements
2.5 Costs
2.6 Generic Derivation of User Requirements.
2.7 Requirements for Selected Indoor Applications
3 Definition of Terms
3.1 Disambiguation of Terms for Positioning
3.2 Definition of Technical Terms
3.3 The Basic Measuring Principles
3.4 Positioning Methods
4 Cameras
4.1 Reference from 3D Building Models
4.2 Reference from Images
4.3 Reference from Deployed Coded Targets
4.4 Reference from Projected Targets
4.5 Systems without Reference
4.6 Reference from Other Sensors
4.7 Summary on Camera Based Indoor Positioning Systems
5 Infrared
5.1 Active Beacons
5.2 Imaging of Natural Infrared Radiation
5.3 Imaging of Artificial Infrared Light
5.4 Summary on Infrared Indoor Positioning Systems
6 Tactile and Combined Polar Systems
6.1 Tactile Systems
6.2 Combined Polar Systems
6.3 Summary on Tactile and Combined Polar Systems
7 Sound
7.1 Ultrasound
7.2 Audible Sound
7.3 Summary on Sound Systems
8 WLAN / Wi-Fi
8.1 Propagation Modeling
8.2 Cell of Origin
8.3 Empirical Fingerprinting
8.4 WLAN Distance Based Methods (PathlossBased Positioning)
8.5 Summary on WLAN Systems
9 Radio Frequency Identification
9.1 Active RFID
9.2 Passive RFID
9.3 Summary on RFID Systems
10 Ultra-Wideband
10.1 Range Estimation Using UWB
10.2 Multipath Mitigation Using UWB
10.3 Positioning Methods Using UWB
10.4 Commercial UWB Systems
10.5 Summary on UltraWideband Systems
11 High Sensitive GNSS / Assisted GNSS
11.1 Signal Attenuation
11.2 Assisted GNSS
11.3 Long Integration and Parallel Correlation
11.4 Summary on High Sensitive GNSS
12 Pseudolites
12.1 Pseudolites Using Signals Different to GNSS
12.2 GNSS Repeaters
12.3 Summary on Pseudolite Systems
13 Other Radio Frequency Technologies
13.1 ZigBee
13.2 Bluetooth
13.3 DECT Phones
13.4 Digital Television
13.5 Cellular Networks
13.6 Radar
13.7 FM Radio
13.8 Summary on Radio Systems
14 Inertial Navigation Systems
14.1 INS Navigation without External Infrastructure
14.2 Pedestrian Dead Reckoning
14.3 INS Pedestrian Navigation Using Complementary Sensors
14.4 Foot Mounted Pedestrian Navigation
14.5 Summary on INS Based Systems
15 Magnetic Localization
15.1 Systems Using the Antenna Near Field
15.2 Systems Using Magnetic Fields from Currents
15.3 Systems Using Permanent Magnets
15.4 Systems Using Magnetic Fingerprinting
15.5 Summary on Magnetic Localization
16 Infrastructure Systems
16.1 Power Lines
16.2 Floor Tiles
16.3 Fluorescent Lamps
16.4 Leaky Feeder Cables
16.5 Summary on Infrastructure Systems
17 Concluding Remarks
17.1 Conclusion
17.2 OutlookNuméro de notice : 15548 Affiliation des auteurs : non IGN Autre URL associée : URL ETH Zurich Thématique : POSITIONNEMENT Nature : Monographie DOI : 10.3929/ethz-a-007313554 En ligne : https://www.sgc.ethz.ch/sgc-volumes/sgk-86.pdf Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62760 Exemplaires(1)
Code-barres Cote Support Localisation Section Disponibilité 15548-01 30.70 Livre Centre de documentation Géodésie Disponible Documents numériques
en open access
15548_eth_indoor_positioning_mautz.pdfAdobe Acrobat PDF PermalinkIndoor pedestrian navigation using foot-mounted IMU and portable ultrasound range sensors / Gabriel Girard in Sensors, vol 11 n° 8 (August 2011)PermalinkNavigation the indoor/outdoor location standards maze / Steven Ramage in Geoinformatics, vol 14 n° 4 (01/06/2011)PermalinkToward seamless indoor-outdoor applications : developing stakeholder-oriented location-based services / K. Ogawa in Geo-spatial Information Science, vol 14 n° 2 (01/06/2011)PermalinkCoherent integration time limits for mobile GNSS receivers in multipath fading environments / Ali Broumandan in Inside GNSS, vol 6 n° 2 (March - April 2011)Permalinkn° 193 - Janvier 2011 - Télédétection et archéologie (Bulletin de Revue Française de Photogrammétrie et de Télédétection) / Société française de photogrammétrie et de télédétectionPermalinkIndoor positioning: LBS in the inside / Huibert-Jan Lekkerkerk in Geoinformatics, vol 13 n° 8 (01/12/2010)PermalinkL'autre monde de la géolocalisation : "l'indoors" / Françoise de Blomac in SIG la lettre, n° 119 (septembre 2010)PermalinkIndoor routing for individuals with special needs and preferences / Hassan A. Karimi in Transactions in GIS, vol 14 n° 3 (June 2010)PermalinkSLAM [simultaneous localization and mapping] dance: GNSS-Inertial-aided location and mapping indoors / P. Robertson in Inside GNSS, vol 5 n° 3 (May 2010)Permalink