THESIS
2022
1 online resource (xvii, 167 pages) : illustrations (some color)
Abstract
Indoor localization is key to location-based services and applications beyond GNSS
coverage. Solutions of different accuracy can be suited to diverse applications. Using infrastructures
allows instant global localization and reasonable accuracy with low user cost,
often desired by human users with resource-limited mobile devices. Shared infrastructures
like LED lighting and WiFi networking, regularly required in buildings, are advocated for
minimal infrastructure costs. These solutions have cost-sharing advantages and superior
ubiquity. Specifically, visible light positioning (VLP) with rolling-shutter cameras
achieves high-accuracy 6-degrees-of-freedom positioning based on LED lights with modulation;
WiFi fingerprinting allows meter-level 2D positioning with existing hardware.
However,...[
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Indoor localization is key to location-based services and applications beyond GNSS
coverage. Solutions of different accuracy can be suited to diverse applications. Using infrastructures
allows instant global localization and reasonable accuracy with low user cost,
often desired by human users with resource-limited mobile devices. Shared infrastructures
like LED lighting and WiFi networking, regularly required in buildings, are advocated for
minimal infrastructure costs. These solutions have cost-sharing advantages and superior
ubiquity. Specifically, visible light positioning (VLP) with rolling-shutter cameras
achieves high-accuracy 6-degrees-of-freedom positioning based on LED lights with modulation;
WiFi fingerprinting allows meter-level 2D positioning with existing hardware.
However, practical challenges remain due to the cost-performance trade-off.
This thesis contributes to shared infrastructure-based indoor localization systems, with
a primary focus on improving cost-efficiency in real deployments while allowing competitive
performance. The reduced cost covers several phases of the system deployment for
VLP and WiFi fingerprinting. The outcomes can further their cost advantages and benefit
their adoption. This work spans system design and implementation, testbed development,
and experimental validation. The main technical contributions are listed below.
VLP with standard rolling-shutter cameras suffers from insufficient LED features under
the regular lighting deployment. I propose a tightly-coupled inertial-aided VLP system
with 2-point pose initialization. It maintains high accuracy reliably without increasing hardware and installation costs. To further reduce the amount of modulated LEDs for
VLP, I propose a novel inertial-aided VLP system that exploits modulated LEDs and
unmodulated lights. It allows competitive performance with reduced hardware costs.
Building LED location maps for VLP or building WiFi signal maps for fingerprinting
localization is costly through manual surveying. To relieve the workload and to save configuration
costs, I propose an efficient LED mapping system and an automatic WiFi signal
mapping system, respectively. All systems are evaluated with extensive experiments to
verify their efficacy and usability.
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