We propose GConvLoc, a WiFi fingerprinting-based indoor localization method utilizing graph convolutional networks. Using the graph structure, we can consider the fingerprint data of the reference points and their location labels in addition to the fingerprint data of the test point at inference time. Experimental results show that GConvLoc outperforms baseline methods that do not utilize graphs.

Federated learning is a promising strategy for indoor localization that can reduce the labor cost of constructing a fingerprint dataset in a distributed training manner without privacy disclosure. However, the traffic generated during the whole training process of federated learning is a burden on the up-and-down link, which leads to huge energy consumption for mobile devices. Moreover, the non-independent and identically distributed (Non-IID) problem impairs the global localization performance during the federated learning. This paper proposes a communication-efficient FedAvg method for federated indoor localization which is improved by the layerwise asynchronous aggregation strategy and layerwise swapping training strategy. Energy efficiency can be improved by performing asynchronous aggregation between the model layers to reduce the traffic cost in the training process. Moreover, the impact of the Non-IID problem on the localization performance can be mitigated by performing swapping training on the deep layers. Extensive experimental results show that the proposed methods reduce communication traffic and improve energy efficiency significantly while mitigating the impact of the Non-IID problem on the precision of localization.

With the arrival of 5G and the popularity of smart devices, indoor localization technical feasibility has been verified, and its market demands is huge. The channel state information (CSI) extracted from Wi-Fi is physical layer information which is more fine-grained than the received signal strength indication (RSSI). This paper proposes a CSI correction localization algorithm using DenseNet, which is termed CorFi. This method first uses isolation forest to eliminate abnormal CSI, and then constructs a CSI amplitude fingerprint containing time, frequency and antenna pair information. In an offline stage, the densely connected convolutional networks (DenseNet) are trained to establish correspondence between CSI and spatial position, and generalized extended interpolation is applied to construct the interpolated fingerprint database. In an online stage, DenseNet is used for position estimation, and the interpolated fingerprint database and K-nearest neighbor (KNN) are combined to correct the position of the prediction results with low maximum probability. In an indoor corridor environment, the average localization error is 0.536m.

In this paper, we propose a precise indoor localization method using visible light communication (VLC) with dual-facing cameras on a smart device (mobile phone, smartphone, or tablet device). This approach can assist the visually impaired with navigation, or provide mobile-robot control. The proposed method is different from conventional techniques in that dual-facing cameras are used to expand the localization area. The smart device is used as the receiver, and light-emitting diodes on the ceiling are used as localization landmarks. These are identified by VLC using a rolling shutter effect of complementary metal-oxide semiconductor image sensors. The front-facing camera captures the direct incident light of the landmarks, while the rear-facing camera captures mirror images of landmarks reflected from the floor face. We formulated the relationship between the poses (position and attitude) of the two cameras and the arrangement of landmarks using tilt detection by the smart device accelerometer. The equations can be analytically solved with a constant processing time, unlike conventional numerical methods, such as least-squares. We conducted a simulation and confirmed that the localization area was 75.6% using the dual-facing cameras, which was 3.8 times larger than that using only the front-facing camera. As a result of the experiment using two landmarks and a tablet device, the localization error in the horizontal direction was less than 98 mm at 90% of the measurement points. Moreover, the error estimation index can be used for appropriate route selection for pedestrians.

Effective indoor localization is the essential part of VR (Virtual Reality) and AR (Augmented Reality) technologies. Tracking the RGB-D camera becomes more popular since it can capture the relatively accurate color and depth information at the same time. With the recovered colorful point cloud, the traditional ICP (Iterative Closest Point) algorithm can be used to estimate the camera poses and reconstruct the scene. However, many works focus on improving ICP for processing the general scene and ignore the practical significance of effective initialization under the specific conditions, such as the indoor scene for VR or AR. In this work, a novel indoor prior based initialization method has been proposed to estimate the initial motion for ICP algorithm. We introduce the generation process of colorful point cloud at first, and then introduce the camera rotation initialization method for ICP in detail. A fast region growing based method is used to detect planes in an indoor frame. After we merge those small planes and pick up the two biggest unparallel ones in each frame, a novel rotation estimation method can be employed for the adjacent frames. We evaluate the effectiveness of our method by means of qualitative observation of reconstruction result because of the lack of the ground truth. Experimental results show that our method can not only fix the failure cases, but also can reduce the ICP iteration steps significantly.

In indoor localization using sensor networks, performance improvements are required for non-line-of-sight (NLOS) environments in which the estimation error is high. NLOS mitigation schemes involve the detection and elimination of the NLOS measurements. The iterative minimum residual (IMR) scheme, which is often applied to the localization scheme using the time of arrival (TOA), is commonly employed for this purpose. The IMR scheme is a low-complexity scheme and its NLOS detection performance is relatively high. However, when there are many NLOS nodes in a sensor field, the NLOS detection error of the IMR scheme increases and the estimation accuracy deteriorates. Therefore, we propose a new scheme that exploits coarse NLOS detection based on stochastic characteristics prior to the application of the IMR scheme to improve the localization accuracy. Improved performances were confirmed in two NLOS channel models by performing numerical simulations.