Performance analysis of visual markers for indoor navigation systems#

Gaetano C. LA DELFA; Salvatore MONTELEONE; Vincenzo CATANIA; Juan F. DE PAZ; Javier BAJO

doi:10.1631/FITEE.1500324

Your Location：

Home >

Browse articles >

Performance analysis of visual markers for indoor navigation systems#

Regular Papers | Updated：2022-05-19

- Performance analysis of visual markers for indoor navigation systems#
- 室内导航系统视觉标记性能分析
- Frontiers of Information Technology & Electronic Engineering Vol. 17, Issue 8, Pages: 730-740(2016)
- Affiliations：
  
  1Department of Electrical, Electronics and Computer Engineering (DIEEI), University of Catania, Catania 95125, Italy
  2BISITE Research Group, Faculty of Science, University of Salamanca, Salamanca 37007, Spain
  3Department of Artificial Intelligence, Polytechnic University of Madrid, Madrid 28660, Spain
- Author bio：
  
  E-mail:gaetano.ladelfa@dieei.unict.it
- Funds：
- DOI：10.1631/FITEE.1500324
  CLC： TP391; TN2
- Received：08 October 2015，
  
  Accepted：17 February 2016，
  
  Published：2016-08
- Accepted：
Scan QR Code
Gaetano C. LA DELFA, Salvatore MONTELEONE, Vincenzo CATANIA, et al. Performance analysis of visual markers for indoor navigation systems#[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(8): 730-740.
DOI：

Gaetano C. LA DELFA, Salvatore MONTELEONE, Vincenzo CATANIA, et al. Performance analysis of visual markers for indoor navigation systems#[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(8): 730-740. DOI： 10.1631/FITEE.1500324.

摘要

智能手机大规模普及，人们对可穿戴设备和物联网兴趣倍增，以及定位服务指数级增长，使得室内定位导航成为近年来最重要的技术挑战之一。室内定位系统不仅在零售行业及定向推送广告行业有着巨大的市场，同时，它还可以部署在医院、机场、博物馆等公共建筑中，成为提升人们生活质量的基础性配置。甚至，在紧急情况下，是否部署室内定位系统，会造成生死之别。文献中已报道多种方法。近年来，得益于智能手机相机性能的大幅提升，无标记点和有标记点的计算机视觉方法得到开发。在之前的研究中，我们提出了一种利用低功耗蓝牙和嵌入地面的2D视觉标记系统进行室内定位导航的技术。在本文中，我们对3种可服务于实时应用的2D视觉标记（Vuforia，ArUco标记和AprilTag）进行了定性的性能评估。本文重点研究了附于地表瓷砖的3种视觉标记在特定情况下的表现，提出了最优视觉标记的甄选原则，为我们提出的室内定位导航技术提供技术支撑。

Abstract

The massive diffusion of smartphones

the growing interest in wearable devices and the Internet of Things

and the exponential rise of location based services (LBSs) have made the problem of localization and navigation inside buildings one of the most important technological challenges of recent years. Indoor positioning systems have a huge market in the retail sector and contextual advertising; in addition

they can be fundamental to increasing the quality of life for citizens if deployed inside public buildings such as hospitals

airports

and museums. Sometimes

in emergency situations

they can make the difference between life and death. Various approaches have been proposed in the literature. Recently

thanks to the high performance of smartphones' cameras

marker-less and marker-based computer vision approaches have been investigated. In a previous paper

we proposed a technique for indoor localization and navigation using both Bluetooth low energy (BLE) and a 2D visual marker system deployed into the floor. In this paper

we presented a qualitative performance evaluation of three 2D visual markers

Vuforia

ArUco marker

and AprilTag

which are suitable for real-time applications. Our analysis focused on specific case study of visual markers placed onto the tiles

to improve the efficiency of our indoor localization and navigation approach by choosing the best visual marker system.

关键词

Keywords

references

OA Aider , , , P Hoppenot , , , E Colle . . A modelbased method for indoor mobile robot localization using monocular vision and straight-line correspondences . . Robot. Auton. Syst. , , 2005 . . 52 ( ( 2 ): ): 229 - - 246 . . . .

S Arias , , , S April . . Visual Tag Recognition for Indoor Positioning . . MS Thesis, Universitat Politcnica de Catalunya, Catalonia, Spain. , , 2011 . . .

J Bajo , , , JF de Paz , , , G Villarrubia , , , 等 . . Selforganizing architecture for information fusion in distributed sensor networks . . Int. J. Distrib. Sens. Netw. , , 2015 . . 11 ( ( 3 ): ): 1 - - 13 . . DOI: 10.1155/2015/231073 http://doi.org/10.1155/2015/231073 . .

S Beauregard , , , H Haas . . Pedestrian dead reckoning: a basis for personal positioning . . 2006 . . Proc. 3rd Workshop on Positioning, Navigation and Communication . . 27 - - 35 . . DOI: 10.1186/1687-6180-2014-65 http://doi.org/10.1186/1687-6180-2014-65 . .

JA Bitsch Link , , , F Gerdsmeier , , , P Smith , , , 等 . . Indoor navigation on wheels (and on foot) using smartphones . . 2012 . . Proc. Int. Conf. on Indoor Positioning and Indoor Navigation . . 1 - - 10 . . DOI: 10.1109/IPIN.2012.6418931 http://doi.org/10.1109/IPIN.2012.6418931 . .

A Buchman , , , C Lung . . Received signal strength based room level accuracy indoor localisation method . . 2013 . . IEEE Int. Conf. on Cognitive Infocommunications . . 103 - - 108 . . DOI: 10.1109/CogInfoCom.2013.6719222 http://doi.org/10.1109/CogInfoCom.2013.6719222 . .

A Chandgadkar , , , W Knottenbelt . . An Indoor Navigation System for Smartphones . . MS Thesis, Imperial College London, London, UK , , 2013 . . .

I Constandache , , , RR Choudhury , , , I Rhee . . Towards mobile phone localization without war-driving. Proc . . 2010 . . IEEE Int. Conf. on Computer Communications . . 1 - - 9 . . DOI: 10.1109/INFCOM.2010.5462058 http://doi.org/10.1109/INFCOM.2010.5462058 . .

C Danakis , , , M Afgani , , , G Povey , , , 等 . . Using a CMOS camera sensor for visible light communication . . 2012 . . IEEE Global Communications Conf . . 1244 - - 1248 . . DOI: 10.1109/GLOCOMW.2012.6477759 http://doi.org/10.1109/GLOCOMW.2012.6477759 . .

Denso, W., 2010. QR-Code Standard 2012 . . Available from: http://www.denso-wave.com/qrcode/qrstandard-e.html http://www.denso-wave.com/qrcode/qrstandard-e.html . .

BL Ecklbauer . . A Mobile Positioning System for Android Based on Visual Markers . . PhD Thesis, University of North Texas, Hagenberg, Austria , , 2014 . . .

C Fuchs , , , N Aschenbruck , , , P Martini , , , 等 . . Indoor tracking for mission critical scenarios: a survey . . Pervas. Mob. Comput. , , 2011 . . 7 ( ( 1 ): ): 1 - - 15 . . DOI: 10.1016/j.pmcj.2010.07.001 http://doi.org/10.1016/j.pmcj.2010.07.001 . .

S Garrido-Jurado , , , R Muñoz-Salinas , , , FJ Madrid-Cuevas , , , 等 . . Automatic generation and detection of highly reliable fiducial markers under occlusion . . Patt. Recogn. , , 2014 . . 47 ( ( 6 ): ): 2280 - - 2292 . . DOI: 10.1016/j.patcog.2014.01.005 http://doi.org/10.1016/j.patcog.2014.01.005 . .

D Han , , , S Jung , , , M Lee , , , 等 . . Building a practical Wi-Fi-based indoor navigation system . . IEEE Pervas. Comput. , , 2014 . . 13 ( ( 2 ): ): 72 - - 79 . . DOI: 10.1109/MPRV.2014.24 http://doi.org/10.1109/MPRV.2014.24 . .

J Haverinen , , , A Kemppainen . . A global selflocalization technique utilizing local anomalies of the ambient magnetic field . . 2009 . . Int. Conf. on Robotics and Automation . . 3142 - - 3147 . . DOI: 10.1109/ROBOT.2009.5152885 http://doi.org/10.1109/ROBOT.2009.5152885 . .

A Jovicic , , , J Li , , , T Richardson . . Visible light communication: opportunities, challenges and the path to market . . IEEE Commun. Mag. , , 2013 . . 51 ( ( 12 ): ): 26 - - 32 . . DOI: 10.1109/MCOM.2013.6685754 http://doi.org/10.1109/MCOM.2013.6685754 . .

H Kato , , , M Billinghurst . . Marker tracking and HMD calibration for a video-based augmented reality conferencing system . . 1999 . . Proc. 2nd IEEE ACM Int. Workshop on Augmented Reality . . 85 - - 94 . . DOI: 10.1109/IWAR.1999.803809 http://doi.org/10.1109/IWAR.1999.803809 . .

GC La Delfa , , , V Catania . . Accurate indoor navigation using smartphone, bluetooth low energy and visual tags . . 2014 . . Proc. 2nd Conf. on Mobile and Information Technologies in Medicine . . 1 - - 4 . . . .

GC La Delfa , , , V Catania , , , S Monteleone , , , 等 . . Computer vision based indoor navigation: a visual markers evaluation. 6th Int. Symp . . 2015 . . on Ambient Intelligence-Software and Applications . . 165 - - 173 . . DOI: 10.1007/978-3-319-19695-4_17 http://doi.org/10.1007/978-3-319-19695-4_17 . .

F Li , , , C Zhao , , , G Ding , , , 等 . . A reliable and accurate indoor localization method using phone inertial sensors . . 2012 . . Proc. ACM Conf. on Ubiquitous Computing . . 421 - - 430 . . DOI: 10.1145/2370216.2370280 http://doi.org/10.1145/2370216.2370280 . .

Y Liu , , , Q Wang , , , J Liu , , , 等 . . MCMC-based indoor localization with a smart phone and sparse WiFi access points . . 2012 . . IEEE Int. Conf. on Pervasive Computing and Communications Workshops . . 247 - - 252 . . DOI: 10.1109/PerComW.2012.6197488 http://doi.org/10.1109/PerComW.2012.6197488 . .

Y Liu , , , M Dashti , , , J Zhang . . Indoor localization on mobile phone platforms using embedded inertial sensors . . 2013 . . 10th Workshop on Positioning Navigation and Communication . . 1 - - 5 . . DOI: 10.1109/WPNC.2013.6533266 http://doi.org/10.1109/WPNC.2013.6533266 . .

A Longacre , , , R Hussey . . Two Dimensional Data Encoding Structure and Symbology for Use with Optical Readers . . US Patent , , 1997 . . 5 591 956 . .

A Mandal , , , CV Lopes , , , T Givargis , , , 等 . . Beep: 3D indoor positioning using audible sound . . 2005 . . IEEE 2nd Consumer Communications and Networking Conf . . 348 - - 353 . . DOI: 10.1109/CCNC.2005.1405195 http://doi.org/10.1109/CCNC.2005.1405195 . .

P Martin , , , BJ Ho , , , N Grupen , , , 等 . . An iBeacon primer for indoor localization: demo abstract . . 2014 . . Proc. 1st ACM Conf. on Embedded Systems for Energy-Efficient Buildings . . 190 - - 191 . . DOI: 10.1145/2674061.2675028 http://doi.org/10.1145/2674061.2675028 . .

R Mautz . . Indoor Positioning Technologies , , 2012 . . : Sdwestdeutscher Verlag fr : Hochschulschriften , , . .

Meingast, M., Geyer, C., Sastry, S., 2005. Geometric models of rolling-shutter cameras Computer Vision and Pattern Recognition, ePrint Archive, arXiv:cs/0503076. , , 2012 . . Available from: http://arxiv.org/abs/cs/0503076 http://arxiv.org/abs/cs/0503076 . .

A Mohan , , , G Woo , , , S Hiura , , , 等 . . Bokode: imperceptible visual tags for camera based interaction from a distance . . ACM Trans. Graph. , , 2009 . . 28 ( ( 3 ): ): 98.1 - - 98.8 . . DOI: 10.1145/1576246.1531404 http://doi.org/10.1145/1576246.1531404 . .

A Mulloni , , , D Wagner , , , I Barakonyi , , , 等 . . Indoor positioning and navigation with camera phones . . IEEE Pervas. Comput. , , 2009 . . 8 ( ( 2 ): ): 22 - - 31 . . DOI: 10.1109/MPRV.2009.30 http://doi.org/10.1109/MPRV.2009.30 . .

L Naimark , , , E Foxlin . . Circular data matrix fiducial system and robust image processing for a wearable vision-inertial self-tracker . . 2002 . . Proc. 1st Int. Symp. on Mixed and Augmented Reality . . 27 - - 36 . . DOI: 10.1109/ISMAR.2002.1115065 http://doi.org/10.1109/ISMAR.2002.1115065 . .

E Olson . . AprilTag: a robust and flexible visual fiducial system . . 2011 . . Proc. IEEE Int. Conf. on Robotics and Automation . . 3400 - - 3407 . . DOI: 10.1109/ICRA.2011.5979561 http://doi.org/10.1109/ICRA.2011.5979561 . .

Qualcomm, 2014. Qualcomm Vuforia 2012 . . Available from: https://developer.vuforia.com/ https://developer.vuforia.com/ . .

A Richardson , , , J Strom , , , E Olson . . AprilCal: assisted and repeatable camera calibration . . 2013 . . Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems . . 1814 - - 1821 . . DOI: 10.1109/IROS.2013.6696595 http://doi.org/10.1109/IROS.2013.6696595 . .

S Saito , , , A Hiyama , , , T Tanikawa , , , 等 . . Indoor marker-based localization using coded seamless pattern for interior decoration . . 2007 . . IEEE Virtual Reality Conf . . 67 - - 74 . . DOI: 10.1109/VR.2007.352465 http://doi.org/10.1109/VR.2007.352465 . .

P Subbu , , , K Sasidhar . . Indoor Localization Using Magnetic Fields . . PhD Thesis, University of North Texas, Texas, USA , , 2011 . . .

SP Tarzia , , , PA Dinda , , , RP Dick , , , 等 . . Indoor localization without infrastructure using the acoustic background spectrum . . 2011 . . Proc. 9th Int. Conf. on Mobile Systems, Applications, and Services . . 155 - - 168 . . DOI: 10.1145/1999995.2000011 http://doi.org/10.1145/1999995.2000011 . .

J Torres-Solis , , , TH Falk , , , T Chau . . A Review of Indoor Localization Technologies: Towards Navigational Assistance for Topographical Disorientation . . In: Molina, F.J.V. (Ed.), Ambient Intelligence. InTech Open Access Publisher, Rijeka, Croatia . . 51 - - 83 . . DOI: 10.5772/8678 http://doi.org/10.5772/8678 . .

G Villarrubia , , , J Bajo , , , JF de Paz , , , 等 . . Monitoring and detection platform to prevent anomalous situations in home care . . Sensor , , 2014 . . 14 ( ( 6 ): ): 9900 - - 9921 . . DOI: 10.3390/s140609900 http://doi.org/10.3390/s140609900 . .

H Wang , , , S Sen , , , A Elgohary , , , 等 . . No need to war-drive: unsupervised indoor localization . . 2012 . . Proc. 10th Int. Conf. on Mobile Systems, Applications, and Services . . 197 - - 210 . . DOI: 10.1145/2307636.2307655 http://doi.org/10.1145/2307636.2307655 . .

SB Wicker , , , VK Bhargava . . Reed-Solomon Codes and Their Applications . . IEEE Press, Piscataway, NJ, USA , , 1994 . . .

D Zachariah , , , M Jansson . . Fusing visual tags and inertial information for indoor navigation . . 2012 . . IEEE/ION Position Location and Navigation Symp . . 535 - - 540 . . DOI: 10.1109/PLANS.2012.6236924 http://doi.org/10.1109/PLANS.2012.6236924 . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

Light field imaging for computer vision: a survey

A survey on indoor 3D modeling and applications via RGB-D devices

Auxiliary diagnostic system for ADHD in children based on AI technology

A quantitative attribute-based benchmark methodology for single-target visual tracking

Inertial measurement unit-camera calibration based on incomplete inertial sensor information

Related Author

Shengyong CHEN

Meng ZHAO

Fan SHI

Chen JIA

Ming LI

Weixi WANG

Renzhong GUO

Shengjun TANG

Related Institution

Engineering Research Center of Learning-Based Intelligent System (Ministry of Education), Tianjin University of Technology

Key Laboratory of Computer Vision and System (Ministry of Education), Tianjin University of Technology

School of Architecture and Urban Planning, Research Institute for Smart Cities, Shenzhen University & China Guangdong–Hong Kong–Macau Joint Laboratory for Smart Cities & Key Laboratory of Urban Land Resources Monitoring and Simulation, Ministry of Natural Resources

State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University

Department of Psychology, The Children's Hospital, Zhejiang University School of Medicine, National Clinical Research Center for Child Health

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰