Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Published

Standard

Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments. / [No Value], Widyawan; Pirkl, Gerald; Munaretto, Daniele et al.
In: Pervasive and Mobile Computing, Vol. 8, No. 3, 06.2012, p. 388-401.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

[No Value], W, Pirkl, G, Munaretto, D, Fischer, C, An, C, Lukowicz, P, Klepal, M, Timm-Giel, A, Widmer, J, Pesch, D & Gellersen, H 2012, 'Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments', Pervasive and Mobile Computing, vol. 8, no. 3, pp. 388-401. https://doi.org/10.1016/j.pmcj.2011.04.005

APA

[No Value], W., Pirkl, G., Munaretto, D., Fischer, C., An, C., Lukowicz, P., Klepal, M., Timm-Giel, A., Widmer, J., Pesch, D., & Gellersen, H. (2012). Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments. Pervasive and Mobile Computing, 8(3), 388-401. https://doi.org/10.1016/j.pmcj.2011.04.005

Vancouver

[No Value] W, Pirkl G, Munaretto D, Fischer C, An C, Lukowicz P et al. Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments. Pervasive and Mobile Computing. 2012 Jun;8(3):388-401. doi: 10.1016/j.pmcj.2011.04.005

Author

[No Value], Widyawan ; Pirkl, Gerald ; Munaretto, Daniele et al. / Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments. In: Pervasive and Mobile Computing. 2012 ; Vol. 8, No. 3. pp. 388-401.

Bibtex

@article{36cd23b1957b4f6780efa8fa8a361975,

title = "Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments",

abstract = "We present a novel, multimodal indoor navigation technique that combines pedestrian dead reckoning (PDR) with relative position information from wireless sensor nodes. It is motivated by emergency response scenarios where no fixed or pre-deployed global positioning infrastructure is available and where typical motion patterns defeat standard PDR systems. We use RF and ultrasound beacons to periodically re-align the PDR system and reduce the impact of incremental error accumulation. Unlike previous work on multimodal positioning, we allow the beacons to be dynamically deployed (dropped by the user) at previously unknown locations. A key contribution of this paper is to show that despite the fact that the beacon locations are not known (in terms of absolute coordinates), they significantly improve the performance of the system. This effect is especially relevant when a user re-traces (parts of) the path he or she had previously travelled or lingers and moves around in an irregular pattern at single locations for extended periods of time. Both situations are common and relevant for emergency response scenarios. We describe the system architecture, the fusion algorithms and provide an in depth evaluation in a large scale, realistic experiment.",

keywords = "Virtual lifeline, Navigation , Sensor data fusion , Unknown environments",

author = "{[No Value]}, Widyawan and Gerald Pirkl and Daniele Munaretto and Carl Fischer and Chunlei An and Paul Lukowicz and Martin Klepal and Andreas Timm-Giel and Joerg Widmer and Dirk Pesch and Hans Gellersen",

year = "2012",

month = jun,

doi = "10.1016/j.pmcj.2011.04.005",

language = "English",

volume = "8",

pages = "388--401",

journal = "Pervasive and Mobile Computing",

issn = "1574-1192",

publisher = "Elsevier Science B.V.",

number = "3",

}

RIS

TY - JOUR

T1 - Virtual lifeline: Multimodal sensor data fusion for robust navigation in unknown environments

AU - [No Value], Widyawan

AU - Pirkl, Gerald

AU - Munaretto, Daniele

AU - Fischer, Carl

AU - An, Chunlei

AU - Lukowicz, Paul

AU - Klepal, Martin

AU - Timm-Giel, Andreas

AU - Widmer, Joerg

AU - Pesch, Dirk

AU - Gellersen, Hans

PY - 2012/6

Y1 - 2012/6

N2 - We present a novel, multimodal indoor navigation technique that combines pedestrian dead reckoning (PDR) with relative position information from wireless sensor nodes. It is motivated by emergency response scenarios where no fixed or pre-deployed global positioning infrastructure is available and where typical motion patterns defeat standard PDR systems. We use RF and ultrasound beacons to periodically re-align the PDR system and reduce the impact of incremental error accumulation. Unlike previous work on multimodal positioning, we allow the beacons to be dynamically deployed (dropped by the user) at previously unknown locations. A key contribution of this paper is to show that despite the fact that the beacon locations are not known (in terms of absolute coordinates), they significantly improve the performance of the system. This effect is especially relevant when a user re-traces (parts of) the path he or she had previously travelled or lingers and moves around in an irregular pattern at single locations for extended periods of time. Both situations are common and relevant for emergency response scenarios. We describe the system architecture, the fusion algorithms and provide an in depth evaluation in a large scale, realistic experiment.

AB - We present a novel, multimodal indoor navigation technique that combines pedestrian dead reckoning (PDR) with relative position information from wireless sensor nodes. It is motivated by emergency response scenarios where no fixed or pre-deployed global positioning infrastructure is available and where typical motion patterns defeat standard PDR systems. We use RF and ultrasound beacons to periodically re-align the PDR system and reduce the impact of incremental error accumulation. Unlike previous work on multimodal positioning, we allow the beacons to be dynamically deployed (dropped by the user) at previously unknown locations. A key contribution of this paper is to show that despite the fact that the beacon locations are not known (in terms of absolute coordinates), they significantly improve the performance of the system. This effect is especially relevant when a user re-traces (parts of) the path he or she had previously travelled or lingers and moves around in an irregular pattern at single locations for extended periods of time. Both situations are common and relevant for emergency response scenarios. We describe the system architecture, the fusion algorithms and provide an in depth evaluation in a large scale, realistic experiment.

KW - Virtual lifeline

KW - Navigation

KW - Sensor data fusion

KW - Unknown environments

U2 - 10.1016/j.pmcj.2011.04.005

DO - 10.1016/j.pmcj.2011.04.005

M3 - Journal article

VL - 8

SP - 388

EP - 401

JO - Pervasive and Mobile Computing

JF - Pervasive and Mobile Computing

SN - 1574-1192

IS - 3

ER -

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