related work and intro first draft from toni

tex/bare_conf.tex

@@ -76,7 +76,7 @@
 \usepackage{eqparbox}
 
 \usepackage{epstopdf}
-\usepackage{ulem}
+%\usepackage{ulem}
 
 
 % replacement for the SI package

tex/chapters/abstract.tex

@@ -3,8 +3,8 @@
 DUMMY ABSTRACT. We present an indoor localisation system that integrates different sensor modalities,
 namely Wi-Fi, barometer, iBeacons, step- and turn-detection for localisation of pedestrians within buildings
 over multiple floors. To model the pedestrian's movement, which is constrained by walls and other obstacles,
-we propose a state transition based upon random walks on graphs. \sout{This model also frees us from the burden of
-frequently updating the system.}
+we propose a state transition based upon random walks on graphs. 
+%This model also frees us from the burden of frequently updating the system.
 In addition we make use of barometer information to estimate the current floor.
 \commentByFrank{entweder alle sensoren nennen, oder weglassen? sonst wirkt es nicht schluessig}ds
 Furthermore, we present a statistical approach to avoid the incorporation of faulty heading information caused

tex/chapters/introduction.tex

@@ -60,7 +60,9 @@ Walking through a door has a lower probability than remaining on the corridor, s
 This can be tackled by making such areas more likely.  
 Therefore, a novel approach for detecting doors using again the inverted graph and the principal component analysis (PCA) \cite{Hotelling1933} is presented within this work.
 
-Finally, it is now possible to calculate more natural and realistic paths using the weighted graph. We introduce two different methods which make use of the given destination and thereby provide a targeted movement. 
+Finally, it is now possible to calculate more natural and realistic paths using the weighted graph. 
+We introduce two different methods which make use of the given destination and thereby provide a targeted movement. 
+To the best of our knowledge, our approach is the first one that uses prior navigation knowledge to increase the localisation results.
 
 
 

tex/chapters/relatedwork.tex

@@ -8,10 +8,7 @@ require an extensive offline calibration phase. Therefore, many other systems li
 are using signal strength prediction models like the log-distance model or wall-attenuation-factor model.
 Additionally, the sensors noise is not always Gaussian or satisfies the central limit theorem, what makes the
 usage of Kalman filters problematic \cite{sarkka2013bayesian, Nurminen2014}.
-
 All this shows, that sensor models differ in many ways and are a subject in itself.
-\commentByFrank{sagt man das so? meinst du: haben ihr eigenes forschungsgebiet?}
-\commentByToni{"Sie sind ein Thema für sich". Glaub schon das man das so sagt. its own theme gibt es noch. find ich aber nicht so fresh}
 A good discussion on different sensor models can be found in \cite{Yang2015}, \cite{Gu2009} or \cite{Khaleghi2013}. 
 
 However, within this work, we use simple models, configured using a handful of parameters and address their inaccuracies by harnessing prior information like the pedestrian's desired destination. 
@@ -19,11 +16,8 @@ Therefore, we are not that interested in the different sensor representations bu
 
 A widely used and easy method for modelling the movement of a pedestrian, is the prediction of a new position
 by adding an approximated covered distance to the current position. In most cases, a heading serves as
-walking direction. If the connection line \commentByFrank{graph? oder generell?: line-of-sight?} \commentByToni{ganz generell. deshalb nur connection line. line of sight ist ja mehr blickachse oder sichtlinie}
-between the new and the old position intersects a wall, the probability for the new position is set to
-zero \cite{Woodman08-PLF, Blanchert09-IFF, Koeping14-ILU}.
+walking direction. If the connection line between the new and the old position intersects a wall, the probability for the new position is set to zero \cite{Woodman08-PLF, Blanchert09-IFF, Koeping14-ILU}.
 However, as \cite{Nurminen13-PSI} already stated, it "gives more probability to a short step".
-\commentByFrank{waende bevorzugen kurze schritte? wird das klar was hier gemeint ist?}
 An additional drawback of these approaches is that for every transition an intersection-test
 must be executed. This can result in a high computational complexity.
 
@@ -58,28 +52,21 @@ By assuming that the floorplan is given beforehand, the occupied cells can be re
 The remaining cells are described by its centre and represent all free spaces in the indoor environment. 
 A graph is defined by using the centres as nodes and connecting direct neighbours with edges. 
 
-In order to enable floor changes, some approaches suggest to simply connect the nodes at staircases in a discrete manner \cite{}. However, as mentioned before changing the floor in a discrete does not resemble real-world conditions. Therefore, \cite{} presented a stepwise floor change based on a hexagonal gridded-graph. A similar approach is presented in the here presented approach for a square-shaped grid.
-
+In order to enable floor changes, some approaches suggest to simply connect the nodes at staircases \cite{Ebner-15, Hilsenbeck2014}. 
+However, as mentioned before changing the floor in a discrete manner does not resemble real-world conditions. 
+Therefore, \cite{GarciaPuyol2014} presented a stepwise floor change based on a hexagonal gridded-graph. 
+We introduce a similar approach for square-shaped grids.
 
 All this allows a wide range of possibilities for modelling the pedestrian's movement, while only sampling valid locations. 
+In virtual environments like video games and simulations, the human motion is often modelled using graphs and path finding techniques. 
+Here, the goal is not only to provide a shortest path, but also the least cost path, most natural path or least dangerous path. 
+For example \cite{Bandi2000} uses an A* algorithm to search a 3D gridded environment for the shortest path to a goal. 
+An additional smoothing procedure is performed to make the path more natural. 
+They are considering foot span, body dimensions and obstacle dimensions when determining whether an obstacle is surmountable. 
+However, many of those information are difficult to ascertain in real-time or mean additional effort in real-world environments. 
+Therefore, more realistic simulation models, mainly for evacuation simulation, are just using a simple shortest path on regular tessellated graphs \cite{Sun2011, tan2014agent}. A more costly, yet promising approach is shown by \cite{Brogan2003}. They use a data set of previous recorded walks to create a model of realistic human walking paths. 
 
-Computer Games
-
-Evacuation Route Planning
-
-
-
-
-
-In computer games like the sims or starcraft, intelligent npc movement is a key factor. hierbei geht es nicht nur um das umlaufen von hindernissen sondern auch um eine möglichst natürliche art der bewegung. 
-
-
-ansätze die dijkstra einfach zum navigieren nutzen.
-
-ansätze aus der robotic um einen roboter von a nach b zu schicken
-
-
-the idea of using navigational knowledge to simulate the human movement 
+Finally, it seems that currently none of the localisation system approaches are using realistic walking paths as additional source of information to provide a more targeted and robust movement. Most common systems are sampling a new state only in regard of the user's heading and speed using one of the above mentioned indoor graphs. 
 
 
 

tex/egbib.bib

@@ -2613,4 +2613,81 @@ year = {2010}
   publisher={IEEE}
 }
 
+@article{GarciaPuyol2014,
+abstract = {Pedestrian navigation is an important ingredient for efficient multimodal transportation, such as guidance within large transportation infrastructures. A requirement is accurate positioning of people in indoor multistory environments. To achieve this, maps of the environment play a very important role. FootSLAM is an algorithm based on the simultaneous localization and mapping (SLAM) principle that relies on human odometry, i.e., measurements of a pedestrian's steps, to build probabilistic maps of human motion for such environments and can be applied using crowdsourcing. In this paper, we extend FootSLAM to multistory buildings following a Bayesian derivation. Our approach employs a particle filter and partitions the map space into a grid of adjacent hexagonal prisms with eight faces. We model the vertical component of the odometry errors using an autoregressive integrated moving average (ARIMA) model and extend the geographic tree-based data structure that efficiently stores the probabilistic map, allowing real-time processing. We present the multistory FootSLAM maps that were created from three data sets collected in different buildings (one large office building and two university buildings). Hereby, the user was only carrying a single foot-mounted inertial measurement unit (IMU). We believe the resulting maps to be strong evidence of the robustness of FootSLAM. This paper raises the future possibility of crowdsourced indoor mapping and accurate navigation using other forms of human odometry, e.g., obtained with the low-cost and nonintrusive sensors of a handheld smartphone.},
+author = {{Garcia Puyol}, Maria and Bobkov, Dmytro and Robertson, Patrick and Jost, Thomas},
+doi = {10.1109/TITS.2014.2303115},
+file = {:home/toni/.local/share/data/Mendeley Ltd./Mendeley Desktop/Downloaded/Garcia Puyol et al. - 2014 - Pedestrian simultaneous localization and mapping in multistory buildings using inertial sensors.pdf:pdf},
+issn = {15249050},
+journal = {IEEE Transactions on Intelligent Transportation Systems},
+keywords = {Indoor pedestrian navigation,inertial navigation,multistory localization and mapping,simultaneous localization and mapping (SLAM)},
+month = {aug},
+number = {4},
+pages = {1714--1727},
+shorttitle = {Intelligent Transportation Systems, IEEE Transacti},
+title = {{Pedestrian simultaneous localization and mapping in multistory buildings using inertial sensors}},
+volume = {15},
+year = {2014}
+}
+
+@article{Bandi2000,
+abstract = {This paper presents an efficient and robust technique for generating global motion paths for a human model in virtual environments. Initially, a scene is discretized using raster hardware to generate an environment map. An obstacle-free cell path sub-optimal according to Manhattan metric is generated between any two cells. Unlike 2D techniques present in literature, the proposed algorithm works for complex 3D environments suitable for video games and architectural walk-throughs. For obstacle avoidance, the algorithm considers both physical dimensions of the human and actions such as jumping, bending, etc. Path smoothening is carried out to keep the cell path as closely as possible to Euclidean straight-line paths.},
+author = {Bandi, Srikanth and Thalmann, Daniel},
+doi = {10.1016/S0925-7721(99)00046-2},
+file = {:home/toni/.local/share/data/Mendeley Ltd./Mendeley Desktop/Downloaded/Bandi, Thalmann - 2000 - Path finding for human motion in virtual environments.pdf:pdf},
+issn = {09257721},
+journal = {Computational Geometry},
+keywords = {Cellular paths,Heuristic search,Obstacle avoidance,Path planning,Pathfinding,Virtual walk-throughs},
+mendeley-tags = {Pathfinding},
+number = {1-3},
+pages = {103--127},
+title = {{Path finding for human motion in virtual environments}},
+volume = {15},
+year = {2000}
+}
+
+@inproceedings{tan2014agent,
+  title={Agent-based simulation of building evacuation using a grid graph-based model},
+  author={Tan, Lu and Lin, Hui and Hu, Mingyuan and Che, Weitao},
+  booktitle={IOP Conference Series: Earth and Environmental Science},
+  volume={18},
+  number={1},
+  pages={012123},
+  year={2014},
+  organization={IOP Publishing}
+}
+
+@inproceedings{Sun2011,
+abstract = {At present, application of GIS is in a process of transition from macro space to micro space, such as indoor space, a kind of micro environment that has a smaller scale than outdoor space. There have been some applications for indoor space, covering issues like path finding, emergency planning, object tracking, etc. Behind these applications, indoor spatial models are needed to illustrate how built environments are spatially represented. Although some modeling approaches have been proposed, most of them focus only on either structural or topological properties. In view of this problem, recently a grid graph-based modeling approach considering a built environment as a continuous framework is presented, which is able to combine both geometrical and structural properties. In this paper, we employ this approach to implement route analysis based on a hotel floor plan. The result might be applied to the planning for evacuation routes.},
+author = {Sun, Jing and Li, Xiang},
+booktitle = {Proceedings - 2011 19th International Conference on Geoinformatics, Geoinformatics 2011},
+doi = {10.1109/GeoInformatics.2011.5980680},
+isbn = {9781612848488},
+issn = {9781612848495},
+keywords = {evacuation planning,grid graph-based model,indoor space},
+month = {jun},
+pages = {1--4},
+publisher = {IEEE},
+shorttitle = {Geoinformatics, 2011 19th International Conference},
+title = {{Indoor evacuation routes planning with a grid graph-based model}},
+year = {2011}
+}
+
+@inproceedings{Brogan2003,
+abstract = {Pedestrian navigation is a complex function of human dynamics, a desired destination, and the presence of obstacles. People cannot stop and start instantaneously and their turning abilities are influenced by kinematic and dynamical constraints. A realistic model of human walking paths is an important development for entertainment applications and many classes of simulations. We present a novel behavioral model of path planning that extends previous models through its significant use of pedestrian performance statistics that were obtained during a suite of experiments. We develop an original interpretation of quantitative metrics for measuring a model’s accuracy, and use it to compare our path planning approach to a popular contemporary method. Results indicate that this new path planning model better fits natural human behavior than previous models.},
+author = {Brogan, D. C. and Johnson, N. L.},
+booktitle = {Proceedings - IEEE Workshop on Program Comprehension},
+doi = {10.1109/CASA.2003.1199309},
+file = {:home/toni/Documents/literatur/Realistic human walking paths.pdf:pdf},
+isbn = {0769519342},
+issn = {10928138},
+keywords = {Air safety,Animation,Humans,Kinematics,Legged locomotion,Navigation,Path planning,Robots,Testing,Turning},
+pages = {94--101},
+publisher = {IEEE Comput. Soc},
+shorttitle = {Computer Animation and Social Agents, 2003. 16th I},
+title = {{Realistic human walking paths}},
+volume = {2003-Janua},
+year = {2003}
+}
+