ALBERT

Beschreibung: Velocity updates have been proven to be important for constraining motion-sensor-based dead-reckoning (DR) solutions in indoor unmanned aerial vehicle (UAV) applications. The forward velocity from a mass flow sensor and the lateral and vertical non-holonomic constraints (NHC) can be utilized for three-dimensional (3D) velocity updates. However, it is observed that (a) the quadrotor UAV may have a vertical velocity trend when it is controlled to move horizontally; (b) the quadrotor may have a pitch angle when moving horizontally; and (c) the mass flow sensor may suffer from sensor errors, especially the scale factor error. Such phenomenons degrade the performance of velocity updates. Thus, this paper presents a multi-sensor integrated localization system that has more effective sensor interactions. Specifically, (a) the barometer data are utilized to detect height changes and thus determine the weight of vertical velocity update; (b) the pitch angle from the inertial measurement unit (IMU) and magnetometer data fusion is used to set the weight of forward velocity update; and (c) an extra mass flow sensor calibration module is introduced. Indoor flight tests have indicated the effectiveness of the proposed sensor interaction strategies in enhancing indoor quadrotor DR solutions, which can also be used for detecting outliers in external localization technologies such as ultrasonics.

Beschreibung: Evaluation of the railway network distribution and its impacts on social and economic development has great significance for building an efficient and comprehensive railway system. To address the lack of evaluation indicators to assess the railway network distribution pattern at the macro scale, this study selects eight indicators—railway network density, railway network proximity, the shortest travel time, train frequency, population, Gross Domestic Product (GDP), the gross industrial value above designated size, and fixed asset investment—as the basis of an integrated railway network distribution index which is used to characterize China’s railway network distribution using geographical information system (GIS) technology. The research shows that, in 2015, the railway network distribution was low in almost half of China’s counties and that there were obvious differences in distribution between counties in the east and west. In addition, multiple dense areas of railway network distribution were identified. The results suggest that it might be advisable to strengthen the connections between large and small cities in the eastern region and that the major urban agglomerations in the midwest could focus on strengthening the construction of railway facilities to increase the urban vitality of the western region. This study can be used to guide the optimization of railway network structures and provide a macro decision-making reference for the planning and evaluation of major railway projects in China.

Beschreibung: Visible Light Positioning (VLP) has become one of the most popular positioning and navigation systems in this decade. Filter-based VLP systems can provide real-time solutions but have limited accuracy. On the contrary, fixed-interval smoothers can help VLP achieve higher accuracy but require post-processing. In this article, a trade-off solution, Fixed-Lag Ensemble Kalman Smoother (FLEnKS), is proposed for VLP to achieve a semi-real-time and accurate positioning solution. The forward part of the FLEnKS is based on the Ensemble Kalman Filter (EnKF), which uses stochastic sampling with ensemble members and enables a better reflection of the features of nonlinear systems. The backward filter in the FLEnKS compensates for the estimation error from the forward filter using the linearization based on error states and further reduces the estimation error. Furthermore, multiple data from both photodiode (PD) and camera are fused in the proposed FLEnKS for VLP, which further improves the accuracy of conventional VLP with a single data source. Preliminary field test results show that the proposed FLEnKS provides a semi-real-time positioning solution with the average 3D positioning accuracy of 15.63 cm in dynamic tests.

Beschreibung: Semantically rich indoor models are increasingly used throughout a facility’s life cycle for different applications. With the decreasing price of 3D sensors, it is convenient to acquire point cloud data from consumer-level scanners. However, most existing methods in 3D indoor reconstruction from point clouds involve a tedious manual or interactive process due to line-of-sight occlusions and complex space structures. Using the multiple types of data obtained by RGB-D devices, this paper proposes a fast and automatic method for reconstructing semantically rich indoor 3D building models from low-quality RGB-D sequences. Our method is capable of identifying and modelling the main structural components of indoor environments such as space, wall, floor, ceilings, windows, and doors from the RGB-D datasets. The method includes space division and extraction, opening extraction, and global optimization. For space division and extraction, rather than distinguishing room spaces based on the detected wall planes, we interactively define the start-stop position for each functional space (e.g., room, corridor, kitchen) during scanning. Then, an interior elements filtering algorithm is proposed for wall component extraction and a boundary generation algorithm is used for space layout determination. For opening extraction, we propose a new noise robustness method based on the properties of convex hull, octrees structure, Euclidean clusters and the camera trajectory for opening generation, which is inapplicable to the data collected in the indoor environments due to inevitable occlusion. A global optimization approach for planes is designed to eliminate the inconsistency of planes sharing the same global plane, and maintain plausible connectivity between the walls and the relationships between the walls and openings. The final model is stored according to the CityGML3.0 standard. Our approach allows for the robust generation of semantically rich 3D indoor models and has strong applicability and reconstruction power for complex real-world datasets.

Beschreibung: Lampposts, traffic lights, traffic signs, utility poles and so forth are important road furniture in urban areas. The fast and accurate localization and extraction of this type of furniture is urgent for the construction and updating of infrastructure databases in cities. This paper proposes a pipeline for mobile laser scanning data processing to locate and extract road poles. The proposed method is based on the vertical continuity with isolation feature of the pole part and the overall roughness feature of the attachment part of road poles. The isolation feature of the pole part is analysed by constructing two concentric cylinders from bottom to top and there should be no or a limited number of, points between these two cylinders. After splitting up the pole part and the attachment part of a road pole, the roughness of the candidate attachment points is computed and the attachment is obtained by performing region growing method based on roughness values. By applying the proposed pipeline to different situations in two datasets, the proposed method proves to be efficient not only in simple scenes but also in cluttered scenes.

Beschreibung: The deep multiple kernel learning (DMKL) method has caused widespread concern due to its better results compared with shallow multiple kernel learning. However, existing DMKL methods, which have a fixed number of layers and fixed type of kernels, have poor ability to adapt to different data sets and are difficult to find suitable model parameters to improve the test accuracy. In this paper, we propose a self-adaptive deep multiple kernel learning (SA-DMKL) method. Our SA-DMKL method can adapt the model through optimizing the model parameters of each kernel function with a grid search method and change the numbers and types of kernel function in each layer according to the generalization bound that is evaluated with Rademacher chaos complexity. Experiments on the three datasets of University of California—Irvine (UCI) and image dataset Caltech 256 validate the effectiveness of the proposed method on three aspects.

Beschreibung: Although wireless fingerprinting has been well researched and widely used for indoor localization, its performance is difficult to quantify. Therefore, when wireless fingerprinting solutions are used as location updates in multi-sensor integration, it is challenging to set their weight accurately. To alleviate this issue, this paper focuses on predicting wireless fingerprinting location uncertainty by given received signal strength (RSS) measurements through the use of machine learning (ML). Two ML methods are used, including an artificial neural network (ANN)-based approach and a Gaussian distribution (GD)-based method. The predicted location uncertainty is evaluated and further used to set the measurement noises in the dead-reckoning/wireless fingerprinting integrated localization extended Kalman filter (EKF). Indoor walking test results indicated the possibility of predicting the wireless fingerprinting uncertainty through ANN the effectiveness of setting measurement noises adaptively in the integrated localization EKF.

Beschreibung: Reliable and continuous navigation solutions are essential for high-accuracy location-based services. Currently, the real-time kinematic (RTK) based Global Positioning System (GPS) is widely utilized to satisfy such requirements. However, RTK’s accuracy and continuity are limited by the insufficient number of the visible satellites and the increasing length of base-lines between reference-stations and rovers. Recently, benefiting from the development of precise point positioning (PPP) and BeiDou satellite navigation systems (BDS), the issues existing in GPS RTK can be mitigated by using GPS and BDS together. However, the visible satellite number of GPS + BDS may decrease in dynamic environments. Therefore, the inertial navigation system (INS) is adopted to bridge GPS + BDS PPP solutions during signal outage periods. Meanwhile, because the quality of BDS geosynchronous Earth orbit (GEO) satellites is much lower than that of inclined geo-synchronous orbit (IGSO) satellites, the predicted observation residual based robust extended Kalman filter (R-EKF) is adopted to adjust the weight of GEO and IGSO data. In this paper, the mathematical model of the R-EKF aided GEO/IGSO/GPS PPP/INS tight integration, which uses the raw observations of GPS + BDS, is presented. Then, the influences of GEO, IGSO, INS, and R-EKF on PPP are evaluated by processing land-borne vehicle data. Results indicate that (1) both GEO and IGSO can provide accuracy improvement on GPS PPP; however, the contribution of IGSO is much more visible than that of GEO; (2) PPP’s accuracy and stability can be further improved by using INS; (3) the R-EKF is helpful to adjust the weight of GEO and IGSO in the GEO/IGSO/GPS PPP/INS tight integration and provide significantly higher positioning accuracy.