{"id":173,"date":"2015-08-07T17:40:30","date_gmt":"2015-08-07T09:40:30","guid":{"rendered":"https:\/\/www.cognav.net\/?p=173"},"modified":"2015-08-07T17:43:20","modified_gmt":"2015-08-07T09:43:20","slug":"%e5%88%a9%e7%94%a8%e7%a7%bb%e5%8a%a8%e4%bc%a0%e6%84%9f%e5%99%a8%e4%bc%97%e5%8c%85%e5%ae%a4%e5%86%85%e5%9c%b0%e5%9b%be","status":"publish","type":"post","link":"https:\/\/braininspirednavigation.com\/?p=173","title":{"rendered":"\u5229\u7528\u79fb\u52a8\u4f20\u611f\u5668\u4f17\u5305\u5ba4\u5185\u5730\u56fe"},"content":{"rendered":"<p style=\"text-align: center\">\n\t<span style=\"font-size:20px;\"><span style=\"font-family:arial,helvetica,sans-serif;\"><span style=\"color: black;\">\u5229\u7528\u79fb\u52a8\u4f20\u611f\u5668\u4f17\u5305\u5ba4\u5185\u5730\u56fe<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: center\">\n\t<span style=\"font-size:20px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">Crowd&nbsp;Sourcing&nbsp;Indoor&nbsp;Maps&nbsp;with&nbsp;Mobile&nbsp;Sensors<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"font-family:arial,helvetica,sans-serif;\"><span style=\"font-size:18px;\"><span style=\"color: black;\">&nbsp; &nbsp; &nbsp; \u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u4f17\u5305\u5ba4\u5185\u5730\u56fe\u7684\u7b97\u6cd5\u3002\u901a\u8fc7\u5fd7\u613f\u8005\u6240\u7a7f\u6234\u7684\u667a\u80fd\u624b\u673a\u4e2d\u7684\u4e09\u8f74\u52a0\u901f\u5ea6\u8ba1\u3001\u78c1\u529b\u8ba1\u548cNike\u8dd1\u978b\u4e2d\u7684\u538b\u529b\u8ba1\uff0c\u5728\u5ba4\u5185\u884c\u8d70\u8fc7\u7a0b\u4e2d\uff0c\u5e94\u7528\u7a0b\u5e8f\u5c06\u8fd9\u4e9b\u4f17\u5305\u6570\u636e\u53d1\u9001\u5230\u5236\u56fe\u670d\u52a1\u5668\u3002\u8be5\u7b97\u6cd5\u518d\u901a\u8fc7DR\u65b9\u6cd5\u4ece\u8fd9\u4e9b\u4f17\u5305\u6570\u636e\u4e2d\u83b7\u53d6\u7528\u6237\u7684\u6b65\u884c\u8f68\u8ff9\uff0c\u4f30\u8ba1\u51fa\u5ba4\u5185\u5730\u56fe\u3002<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"color: black; font-size: 18px; font-family: arial, helvetica, sans-serif; line-height: 1.6;\">\u4e00\u4e2a\u6210\u529f\u7684\u4f17\u5305\u5ba4\u5185\u5730\u56fe\u9879\u76ee\u4e2d\u81f3\u5c11\u5305\u542b\u4e09\u4e2a\u95ee\u9898\uff1a\u76f8\u5bf9\u5236\u56fe\u3001\u5168\u5c40\u5236\u56fe\u548c\u6fc0\u52b1\u673a\u5236\uff08Incentive\uff09\u95ee\u9898\u3002\u5176\u4e2d\u76f8\u5bf9\u5236\u56fe\u6700\u5173\u952e\u7684\u95ee\u9898\u662f\u786e\u5b9a\u5730\u56fe\u6b63\u786e\u7684\u6bd4\u4f8b\u548c\u65b9\u4f4d\uff0c\u672c\u6587\u4e3b\u8981\u89e3\u51b3\u7684\u8fd9\u4e2a\u95ee\u9898\u3002\u800c\u5168\u5c40\u5236\u56fe\u6700\u5173\u952e\u7684\u95ee\u9898\u662f\u628a\u76f8\u5bf9\u5730\u56fe\u8f6c\u6362\u5230\u67d0\u4e2a\u901a\u7528\u7684\u5168\u5c40\u5750\u6807\u7cfb\u4e0b\uff0c\u5982UTM System\u3002\u4f5c\u8005\u4e0b\u4e00\u6b65\u5c06\u5229\u7528\u5efa\u7b51\u7269\u7684\u51fa\u5165\u53e3\u4f4d\u7f6e\uff08\u8f68\u8ff9\u7684\u8d77\u70b9\u548c\u7ec8\u70b9\uff09\u7684GPS\u5750\u6807\u548cWi-Fi\u70ed\u70b9\u6d4b\u91cf\u503c\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u6b64\u5916\uff0c\u5173\u4e8e\u6fc0\u52b1\u673a\u5236\uff08Incentive\uff09\u7684\u95ee\u9898\uff0c\u5c31\u662f\u600e\u6837\u6fc0\u52b1\u4eba\u4eec\u641c\u96c6\u884c\u8d70\u7684\u6d4b\u91cf\u6570\u636e\u5e76\u53d1\u9001\u5230\u5236\u56fe\u670d\u52a1\u5668\uff0c\u5176\u4e2dWaze.com\u5c31\u662f\u4e00\u4e2a\u6781\u597d\u7684\u6848\u4f8b\u3002<\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"font-family:arial,helvetica,sans-serif;\"><span style=\"font-size:18px;\"><span style=\"color: black;\">\u8fd9\u7bc7\u6587\u7ae0\u7684\u4e3b\u8981\u8d21\u732e\u5c31\u662f\u4e3a\u89e3\u51b3\u76f8\u5bf9\u5236\u56fe\u4e3a\u9898\u63d0\u4f9b\u4e86\u4e00\u79cd\u89e3\u51b3\u65b9\u6848\u3002\u6587\u4e2d\u63d0\u51fa\u4e86\u4e00\u79cd\u4f30\u8ba1\u8d70\u5eca\u957f\u5ea6\u548c\u65b9\u4f4d\u7684\u65b9\u6cd5\u3002\u5728\u8ba1\u7b97\u4e00\u5c42\u697c\u7684\u5730\u56fe\u65f6\u9700\u8981\u6b63\u786e\u4f30\u8ba1\u4e09\u6761\u8d70\u5eca\u7684\u957f\u5ea6\u548c\u65b9\u4f4d\u3002\u957f\u5ea6\u53c2\u6570\u7684\u4f30\u8ba1\u6807\u51c6\u5dee\u662f3%\uff0c\u65b9\u4f4d\u53c2\u6570\u7684\u4f30\u8ba1\u6807\u51c6\u5dee\u662f0.074\u5f27\u5ea6\uff08\u7ea64\u5ea6\uff09\u3002<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"font-family:arial,helvetica,sans-serif;\"><span style=\"font-size:18px;\"><span style=\"color: black;\">\u5728\u5c06\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u9700\u8981\u5bf9\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u591a\u4e2a\u697c\u5c42\u8fdb\u884c\u6d4b\u8bd5\u3002\u6b64\u5916\uff0c\u76ee\u524d\u7684\u7814\u7a76\u4e3b\u8981\u9650\u5236\u5728\u8bc6\u522b\u5efa\u7b51\u7269\u7684\u8d70\u5eca\uff0c\u8fd8\u76f8\u5bf9\u6bd4\u8f83\u5bb9\u6613\u5e76\u4e14\u4e0d\u9700\u8981\u5927\u91cf\u7684\u91c7\u6837\u3002\u5f53\u7136\uff0c\u5efa\u7b51\u7269\u4e2d\u8fd8\u6709\u5f00\u653e\u7a7a\u95f4\u548c\u697c\u68af\uff0c\u8fd9\u4e9b\u901a\u5e38\u6bd4\u8f83\u96be\u4ee5\u8bc6\u522b\uff0c\u771f\u6b63\u7684\u4f17\u5305\u5730\u56fe\u8fd8\u9700\u8981\u8868\u8fbe\u66f4\u591a\u5ba4\u5185\u8bed\u4e49\u4fe1\u606f\u3002<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"font-size:18px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">The paper describes algorithms required to enable the crowd sourcing of indoor building maps, i.e., where GPS is not available. Nevertheless to enable crowd sourcing the paper use the 3-axis accelerometers and the 3-axis magnetometers available in many smart phones and the piezometer in a Nike running shoe. Volunteers carry the sensors while walking around in buildings, and use some application on their smart phone to send the data to a mapping server. The authors present the algorithms to obtain walking trajectories from the data by dead reckoning, and to estimate indoor maps with multiple walking trajectories.<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"font-size:18px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">A successful project to crowd source indoor maps includes at least the following problems: the relative mapping, the global mapping, and the incentive problem. The relative mapping problem is to make a map with the correct proportions and orientation. This problem is the focus of the paper. The global mapping problem locates the relatively correct map in a common coordinate system such as the GPS Universal Transverse Mercator (UTM) system. The authors intend to address this problem next by using GPS readings at the entrances and exits of buildings (trajectory starting and ending point) and Wi-Fi hotspot readings. The incentive problem is about how to motivate the crowd to collect walking data and send them to a mapping server. Waze.com does an excellent job on this problem.<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"font-size:18px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">The contribution of this paper is a solution to the relative mapping problem. The authors proposed a methodology to estimate the lengths and orientations of the hallways. The authors then validate it by showing that the methods are able to estimate a floor map accurately with just a few walking samples. The authors compute the map for one floor requiring the correct estimation of three lengths and one orientation. The length parameters are estimated with a relative standard error of 3%, and the orientation parameter is estimated with a standard error of 0.074 radian (about 4 degrees), with six walking samples. The methodology should be generally applicable to other floors as long as the lengths and orientations of hallways can be estimated correctly. The authors expect the difference from floor to floor to lie in the number of samples required to obtain a correct map.<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"color: rgb(0, 0, 0); font-family: arial, helvetica, sans-serif; font-size: 18px; line-height: 28.7999992370605px; text-align: justify;\">&nbsp; &nbsp; &nbsp;&nbsp;<\/span><span style=\"font-size:18px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">As future work, the proposed method needs to be tested on more than just one floor. Also, their study is restricted to identify hallways within buildings. They are relatively easy and not a lot of samples are needed. Looking forward, there are also open space and stairs within buildings, which are hard to identify, these are the cases when &quot;crowd sourcing&quot; will truly be needed.<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: center\">\n\t<img decoding=\"async\" alt=\"\" src=\"https:\/\/www.braininspirednavigation.com\/wp-content\/uploads\/2015\/08\/080715_0938_1.jpg\" \/>\n<\/p>\n<p style=\"text-align: center\">\n\t<span style=\"font-size:18px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">Estimated&nbsp;vs.&nbsp;true&nbsp;floor&nbsp;map&nbsp;of&nbsp;the&nbsp;5th&nbsp;floor&nbsp;of&nbsp;Davis&nbsp;Hall,&nbsp;UC&nbsp;Berkeley<\/span><\/span><\/span>\n<\/p>\n<p style=\"text-align: justify\">\n\t&nbsp;\n<\/p>\n<p style=\"text-align: justify\">\n\t<span style=\"font-size:18px;\"><span style=\"font-family:times new roman,times,serif;\"><span style=\"color: black;\">Xuan, Y., et al. (2012). Crowd sourcing indoor maps with mobile sensors. Mobile and Ubiquitous Systems: Computing, Networking, and Services, Springer: 125-136.<\/span><\/span><\/span>\n<\/p>\n<p>\n\t<span style=\"color:black; font-family:Times New Roman; font-size:10pt\">&nbsp;<\/span><br \/>\n\t&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5229\u7528\u79fb\u52a8\u4f20\u611f\u5668\u4f17\u5305\u5ba4\u5185\u5730\u56fe Crowd&nbsp;Sourcing&nbsp;Indoor&nbsp;Maps&nbsp;with&nbsp;Mobile&nbsp;Sensors &nbsp; &nbsp; &nbsp; &nbsp; \u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u4f17\u5305\u5ba4\u5185\u5730\u56fe\u7684\u7b97\u6cd5\u3002\u901a\u8fc7\u5fd7\u613f\u8005\u6240\u7a7f\u6234\u7684\u667a\u80fd\u624b\u673a\u4e2d\u7684\u4e09\u8f74\u52a0\u901f\u5ea6\u8ba1\u3001\u78c1\u529b\u8ba1\u548cNike\u8dd1\u978b\u4e2d\u7684\u538b\u529b\u8ba1\uff0c\u5728\u5ba4\u5185\u884c\u8d70\u8fc7\u7a0b\u4e2d\uff0c\u5e94\u7528\u7a0b\u5e8f\u5c06\u8fd9\u4e9b\u4f17\u5305\u6570\u636e\u53d1\u9001\u5230\u5236\u56fe\u670d\u52a1\u5668\u3002\u8be5\u7b97\u6cd5\u518d\u901a\u8fc7DR\u65b9\u6cd5\u4ece\u8fd9\u4e9b\u4f17\u5305\u6570\u636e\u4e2d\u83b7\u53d6\u7528\u6237\u7684\u6b65\u884c\u8f68\u8ff9\uff0c\u4f30\u8ba1\u51fa\u5ba4\u5185\u5730\u56fe\u3002 &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;\u4e00\u4e2a\u6210\u529f\u7684\u4f17\u5305\u5ba4\u5185\u5730\u56fe\u9879\u76ee\u4e2d\u81f3\u5c11\u5305\u542b\u4e09\u4e2a\u95ee\u9898\uff1a\u76f8\u5bf9\u5236\u56fe\u3001\u5168\u5c40\u5236\u56fe\u548c\u6fc0\u52b1\u673a\u5236\uff08Incentive\uff09\u95ee\u9898\u3002\u5176\u4e2d\u76f8\u5bf9\u5236\u56fe\u6700\u5173\u952e\u7684\u95ee\u9898\u662f\u786e\u5b9a\u5730\u56fe\u6b63\u786e\u7684\u6bd4\u4f8b\u548c\u65b9\u4f4d\uff0c\u672c\u6587\u4e3b\u8981\u89e3\u51b3\u7684\u8fd9\u4e2a\u95ee\u9898\u3002\u800c\u5168\u5c40\u5236\u56fe\u6700\u5173\u952e\u7684\u95ee\u9898\u662f\u628a\u76f8\u5bf9\u5730\u56fe\u8f6c\u6362\u5230\u67d0\u4e2a\u901a\u7528\u7684\u5168\u5c40\u5750\u6807\u7cfb\u4e0b\uff0c\u5982UTM System\u3002\u4f5c\u8005\u4e0b\u4e00\u6b65\u5c06\u5229\u7528\u5efa\u7b51\u7269\u7684\u51fa\u5165\u53e3\u4f4d\u7f6e\uff08\u8f68\u8ff9\u7684\u8d77\u70b9\u548c\u7ec8\u70b9\uff09\u7684GPS\u5750\u6807\u548cWi-Fi\u70ed\u70b9\u6d4b\u91cf\u503c\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u6b64\u5916\uff0c\u5173\u4e8e\u6fc0\u52b1\u673a\u5236\uff08Incentive\uff09\u7684\u95ee\u9898\uff0c\u5c31\u662f\u600e\u6837\u6fc0\u52b1\u4eba\u4eec\u641c\u96c6\u884c\u8d70\u7684\u6d4b\u91cf\u6570\u636e\u5e76\u53d1\u9001\u5230\u5236\u56fe\u670d\u52a1\u5668\uff0c\u5176\u4e2dWaze.com\u5c31\u662f\u4e00\u4e2a\u6781\u597d\u7684\u6848\u4f8b\u3002 &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;\u8fd9\u7bc7\u6587\u7ae0\u7684\u4e3b\u8981\u8d21\u732e\u5c31\u662f\u4e3a\u89e3\u51b3\u76f8\u5bf9\u5236\u56fe\u4e3a\u9898\u63d0\u4f9b\u4e86\u4e00\u79cd\u89e3\u51b3\u65b9\u6848\u3002\u6587\u4e2d\u63d0\u51fa\u4e86\u4e00\u79cd\u4f30\u8ba1\u8d70\u5eca\u957f\u5ea6\u548c\u65b9\u4f4d\u7684\u65b9\u6cd5\u3002\u5728\u8ba1\u7b97\u4e00\u5c42\u697c\u7684\u5730\u56fe\u65f6\u9700\u8981\u6b63\u786e\u4f30\u8ba1\u4e09\u6761\u8d70\u5eca\u7684\u957f\u5ea6\u548c\u65b9\u4f4d\u3002\u957f\u5ea6\u53c2\u6570\u7684\u4f30\u8ba1\u6807\u51c6\u5dee\u662f3%\uff0c\u65b9\u4f4d\u53c2\u6570\u7684\u4f30\u8ba1\u6807\u51c6\u5dee\u662f0.074\u5f27\u5ea6\uff08\u7ea64\u5ea6\uff09\u3002 &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;\u5728\u5c06\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u9700\u8981\u5bf9\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u591a\u4e2a\u697c\u5c42\u8fdb\u884c\u6d4b\u8bd5\u3002\u6b64\u5916\uff0c\u76ee\u524d\u7684\u7814\u7a76\u4e3b\u8981\u9650\u5236\u5728\u8bc6\u522b\u5efa\u7b51\u7269\u7684\u8d70\u5eca\uff0c\u8fd8\u76f8\u5bf9\u6bd4\u8f83\u5bb9\u6613\u5e76\u4e14\u4e0d\u9700\u8981\u5927\u91cf\u7684\u91c7\u6837\u3002\u5f53\u7136\uff0c\u5efa\u7b51\u7269\u4e2d\u8fd8\u6709\u5f00\u653e\u7a7a\u95f4\u548c\u697c\u68af\uff0c\u8fd9\u4e9b\u901a\u5e38\u6bd4\u8f83\u96be\u4ee5\u8bc6\u522b\uff0c\u771f\u6b63\u7684\u4f17\u5305\u5730\u56fe\u8fd8\u9700\u8981\u8868\u8fbe\u66f4\u591a\u5ba4\u5185\u8bed\u4e49\u4fe1\u606f\u3002 &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;The paper describes algorithms required to enable the crowd sourcing of indoor building maps, i.e., where GPS is not available. Nevertheless to enable crowd sourcing the paper use the 3-axis accelerometers and [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[39,61,60],"_links":{"self":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts\/173"}],"collection":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=173"}],"version-history":[{"count":2,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts\/173\/revisions"}],"predecessor-version":[{"id":175,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=\/wp\/v2\/posts\/173\/revisions\/175"}],"wp:attachment":[{"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=173"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=173"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/braininspirednavigation.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=173"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}