Indoor trajectory identification: Snapping with uncertainty

Richard Wang, Ravi Shroff, Yilong Zha, Srinivasan Seshan, Manuela Veloso

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of indoor human trajectory identification using odometry data from smartphone sensors. Given a segmented trajectory, a simplified map of the environment, and a set of error thresholds, we implement a map-matching algorithm in a urban setting and analyze the accuracy of the resulting path. We also discuss aggregation of user step data into a segmented trajectory. Besides providing an interesting application of learning human motion in a constrained environment, we examine how the uncertainty of the snapped trajectory varies with path length. We demonstrate that as new segments are added to a path, the number of possibilities for earlier segments is monotonically non-increasing. Applications of this work in an urban setting are discussed, as well as future plans to develop a formal theory of odometry-based map-matching.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4901-4906
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Wang, R., Shroff, R., Zha, Y., Seshan, S., & Veloso, M. (2015). Indoor trajectory identification: Snapping with uncertainty. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4901-4906). [7354066] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354066