qun Li

Travi-Navi: self-deployable indoor navigation system

We present Travi-Navi - a vision-guided navigation system that enables a self-motivated user to easily bootstrap and deploy indoor navigation services, without comprehensive indoor localization systems or even the availability of floor maps. Travi-Navi records high quality images during the course of a guiders walk on the navigation paths, collects a rich set of sensor readings, and packs them into a navigation trace. The followers track the navigation trace, get prompt visual instructions and image tips, and receive alerts when they deviate from the correct paths. Travi-Navi also finds the most efficient shortcuts whenever possible. We encounter and solve several challenges, including robust tracking, shortcut identification, and high quality image capture while walking. We implement Travi-Navi and conduct extensive experiments. The evaluation results show that Travi-Navi can track and navigate users with timely instructions, typically within a 4-step offset, and detect deviation events within 9 steps.

Magicol: Indoor Localization Using Pervasive Magnetic Field and Opportunistic WiFi Sensing

Anomalies of the omnipresent earth magnetic (i.e., geomagnetic) field in an indoor environment, caused by local disturbances due to construction materials, give rise to noisy direction sensing that hinders any dead reckoning system. In this paper, we turn this unpalatable phenomenon into a favorable one. We present Magicol, an indoor localization and tracking system that embraces the local disturbances of the geomagnetic field. We tackle the low discernibility of the magnetic field by vectorizing consecutive magnetic signals on a per-step basis, and use vectors to shape the particle distribution in the estimation process. Magicol can also incorporate WiFi signals to achieve much improved positioning accuracy for indoor environments with WiFi infrastructure. We perform an in-depth study on the fusion of magnetic and WiFi signals. We design a two-pass bidirectional particle filtering process for maximum accuracy, and propose an on-demand WiFi scan strategy for energy savings. We further propose a compliant-walking method for location database construction that drastically simplifies the site survey effort. We conduct extensive experiments at representative indoor environments, including an office building, an underground parking garage, and a supermarket in which Magicol achieved a 90 percentile localization accuracy of 5 m, 1 m, and 8 m, respectively, using the magnetic field alone. The fusion with WiFi leads to 90 percentile accuracy of 3.5 m for localization and 0.9 m for tracking in the office environment. When using only the magnetism, Magicol consumes 9 × less energy in tracking compared to WiFi-based tracking.

Experiencing and handling the diversity in data density and environmental locality in an indoor positioning service

Diversity in training data density and environment locality is intrinsic in the real-world deployment of indoor localization systems and has a major impact on the performance of existing localization approaches. In this paper, through micro-benchmarks, we find that fingerprint-based approaches are preferable in scenarios where a dense database is available; while model-based approaches are the method of choice in the case of sparse data. It should be noted, however, that practical situations are complex. A single deployment often features both sparse and dense sampled areas. Furthermore, the internal layout affects the propagation of radio signals and exhibits environmental impacts. A certain number of measurement samples may be sufficient for one part of the building, but entirely insufficient for another. Thus, finding the right indoor localization algorithm for a given large-scale deployment is challenging, if not impossible; there is no one-size-fits-all indoor localization approach. Realizing the fundamental fact that the quality of the location database capturing the actual radio map dictates localization accuracy, in this paper, we propose Modellet, an algorithmic approach that optimally approximates the actual radio map by unifying model-based and fingerprint-based approaches. Modellet represents the radio map using a fingerprint-cloud that incorporates both measured real fingerprints and virtual fingerprints, which are computed from models with a local support, based on the key concept of the supporting set. We evaluate Modellet with data collected from an office building as well as 13 large-scale deployment venues (shopping malls and airports), located across China, U.S., and Germany. Comparing Modellet with two representative baseline approaches, RADAR and EZPerfect, demonstrates that Modellet effectively adapts to different data densities and environmental conditions, substantially outperforming existing approaches.

Pharos: enable physical analytics through visible light based indoor localization

Indoor physical analytics calls for high-accuracy localization that existing indoor (e.g., WiFi-based) localization systems may not offer. By exploiting the ever increasingly wider adoption of LED lighting, in this paper, we study the problem of using visible LED lights for accurate localization. We identify the key challenges and tackle them through the design of Pharos. In particular, we establish and experimentally verify an optical channel model suitable for localization. We adopt BFSK and channel hopping to achieve reliable location beaconing from multiple, uncoordinated light sources over shared light medium. Preliminary evaluation shows that Pharos achieves the 90th percentile localization accuracy of 0.4m and 0.7m for two typical indoor environments. We believe visible light based localization holds the potential to significantly improve the position accuracy, despite few potential issues to be conquered in real deployment.

Retro-VLC : Enabling Battery-free Duplex Visible Light Communication for Mobile and IoT Applications

The ubiquity of the lighting infrastructure makes the visible light communication (VLC) well suited for mobile and Internet of Things (IoT) applications in the indoor environment. However, existing VLC systems have primarily been focused on one-way communications from the illumination infrastructure to the mobile device. They are power demanding and not applicable for communication in the opposite direction. In this paper, we present RetroVLC, a duplex VLC system that enables a battery-free device to perform bi-directional communications over a shared light carrier across the uplink and downlink. The design features a retro-reflector fabric that backscatters light, an LCD modulator, and several low-power optimization techniques. We have prototyped a working system consisting of a credit card-sized battery-free tag and an illuminating LED reader. Experimental results show that the tag can achieve 10kbps downlink speed and 0.5kbps uplink speed over a distance of 2.4m. We outline several potential applications and limitations of the system.

Travi-Navi: Self-Deployable Indoor Navigation System

We present Travi-Navi—a vision-guided navigation system that enables a self-motivated user to easily bootstrap and deploy indoor navigation services, without comprehensive indoor localization systems or even the availability of floor maps. Travi-Navi records high-quality images during the course of a guider’s walk on the navigation paths, collects a rich set of sensor readings, and packs them into a navigation trace. The followers track the navigation trace, get prompt visual instructions and image tips, and receive alerts when they deviate from the correct paths. Travi-Navi also finds shortcuts whenever possible. In this paper, we describe the key techniques to solve several practical challenges, including robust tracking, shortcut identification, and high-quality image capture while walking. We implement Travi-Navi and conduct extensive experiments. The evaluation results show that Travi-Navi can track and navigate users with timely instructions, typically within a four-step offset, and detect deviation events within nine steps. We also characterize the power consumption of Travi-Navi on various mobile phones.

ViRi: view it right

We present ViRi -- an intriguing system that enables a user to enjoy a frontal view experience even when the user is actually at a slanted viewing angle. ViRi tries to restore the front-view effect by enhancing the normal content rendering process with an additional geometry correction stage. The necessary prerequisite is effectively and accurately estimating the actual viewing angle under natural viewing situations and under the constraints of the devices computational power and limited battery deposit. We tackle the problem with face detection and augment the phone camera with a fisheye lens to expand its field of view so that the device can recognize its user even the phone is placed casually. We propose effective pre-processing techniques to ensure the applicability of face detection tools onto highly distorted fisheye images. To save energy, we leverage information from system states, employ multiple low power sensors to rule out unlikely viewing situations, and aggressively seek additional opportunities to maximally skip the face detection. For situations in which face detection is unavoidable, we design efficient prediction techniques to further speed up the face detection. The effectiveness of the proposed techniques have been confirmed through thorough evaluations. We have also built a straw man application to allow users to experience the intriguing effects of ViRi.