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The combined SLAM indoor navigation method based on GP-LVM

DOI 10.18127/j20700814-201905-15


M.S. Shchekotov – Research Scientist, St. Petersburg Institute for Informatics and Automation of RAS

The problems associated with the use of indoor localization methods, based on Wi-Fi radio signals, is a time-consuming procedure for configuring and placing equipment, which includes the construction of a room map, creating a radio map or calibrating the radio signal propagation model. To solve this problem the SLAM method based on the Gaussian process latent variable (GP-LVM) is proposed, which includes the phase of the training set formation, as well as the phase of simultaneous navigation and mapping.
Purpose of the work is development of a combined SLAM indoor navigation method based on the Gaussian process latent variable, which provides navigation of the user indoors and at the same time allows you to build maps of Wi-Fi radio signals. The method includes the requirements for the correlation of the signal strength values of the nearest user localization points, for which the parameters of the correlation function are configured based on the training set, which is formed by means of crowd calculations.
A combined SLAM indoor navigation method based on the Gaussian process latent variable for collaborative mapping of Wi-Fi radio signals is proposed. The proposed method is based on a training set formation based on the linear regression, as well as on the dimension reduction for simultaneous navigation and map construction. As a training set, the readings of internal sensors of the smartphone (steps and angles of rotation) and the Wi-Fi signal strength obtained using crowd calculations are used. The resulting training set is used to determine the parameters of the correlation function that determines the correlation between the points of localization of the user. The procedure of gamification of the process of determining the user's entrance to the room and search for Wi-Fi access points is also proposed.
The proposed method allows not to carry out the preliminary time-consuming procedures for building maps of premises and radio signals.

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