feierband. good progress in related work.

tex/chapters/conclusion.tex

@@ -3,4 +3,6 @@
 \section{Future Work}
 	\commentByFrank{balance zwischen den einzelnen wahrscheinlichkeiten ist oft ein schmaler grad. wieviel turn erlauben, wieviel auf den pfad zwingen. das verbesern}
 	\commentByFrank{position der APs wissen ist viel arbeit. vereinfachen durch test-walks auf vorgegebenen pfaden -> numerisch optimieren wo APs sind}
+	\commentByToni{quadtress. stellen die groesse der zellen variable ein. je nach bedarf.}
+	
 	

tex/chapters/relatedwork.tex

@@ -11,57 +11,65 @@ 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}. 
 
-\commentByFrank{However, within this work, we use simple models, configured using a handful of parameters
+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. 
-and address their inaccuracies by harnassing prior information like the pedestrian's desired destination.}
+Therefore, we are not that interested in the different sensor representations but more in the state transition as well as incorporating environmental and navigational knowledge. 
-However, in regard of this work, we are not that interested in the different sensor representations but more in
-the state transition as well as incorporating environmental and navigational knowledge. 
 
 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?}
+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}.
+zero \cite{Woodman08-PLF, Blanchert09-IFF, Koeping14-ILU}.
-\commentByFrank{das hatte ich auch mit fast-0 auf der ipin2014. koennen wir auch noch citen}
-
 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.
-\commentByFrank{ohja.. ipin2014 war brechend langsam}
 
-These disadvantages can be avoided, from the outset\commentByFrank{??}, by using spatial models
+These disadvantages can be avoided by using spatial models like indoor graphs. 
-like indoor graphs. Regarding modelling approaches, two main classes are inferred: \commentByFrank{richtiges wort hier?}
+Regarding modelling approaches, two main classes can be distinguished: symbolic and geometric spatial models \cite{Afyouni2012}.
-symbolic and geometric spatial models \cite{Afyouni2012}.
+Especially geometric spatial models (coordinate-based approaches) are very popular, since they integrate metric properties to provide highly accurate location and distance information.
-Especially geometric spatial models (coordinate-based approaches) are very popular,
+One of the most common environmental representations in indoor localization literature is the Voronoi diagram \cite{Liao2003}. 
-since they integrate metric properties to provide highly accurate location and distance information.
+It represents the topological skeleton of the building's floorplan as an irregular tessellation of space. 
-One of the most common environmental representations in indoor localization literature is the Voronoi
+This drastically removes degrees of freedom from the map, what results in a low complexity.
-diagram \cite{Liao2003}. It represents the topological skeleton of the building's floorplan as an irregular
+
-tessellation of space. In the work of \cite{Nurminen2014} a Voronoi diagram is used to approximate the human
+In the work of \cite{Nurminen2014} a Voronoi diagram is used to approximate the human
-movement. It is assumed that the pedestrian can be anywhere on the topological links.
+movement. 
-The choice probabilities \commentByFrank{??} of changing to the next link are proportional to the total link
+It is assumed that the pedestrian can be anywhere on the topological links.
-lengths. However, for highly accurate localisation and large-scale buildings, this network of one-dimensional
+The probabilities of changing to the next link are proportional to the total link lengths.
+However, for highly accurate localisation and large-scale buildings, this network of one-dimensional
 curves is not suitable \cite{Afyouni2012}.
-Therefore, \cite{Hilsenbeck2014} searches for large open spaces (e.g. a lobby) and extends the Voronoi diagram by
+Therefore, \cite{Hilsenbeck2014} searches for large open spaces (e.g. a lobby) and extends the Voronoi diagram by adding those two-dimensional areas. 
-adding those two-dimensional areas. \commentByFrank{was passsiert hier? wird nicht klar}
+The final graph is then created by sampling nodes in regular intervals across the links and filling up the open spaces in a tessellated manner. 
-The final graph is then created by sampling nodes in regular intervals from this structure.
 Similar to \cite{Ebner-15}, they provide a state transition model that selects an edge and a node
 from the graph according to a sampled distance and heading. 
 
-Nevertheless, most corridors 
+Nevertheless, most corridors are still represented by just one topological link. 
+The complexity is reduced but does not allow arbitrary movements and leads to suboptimal trajectories. 
+Far more flexible and variable geometric spatial models are regular tessellated approaches like grid-based models. 
+Those techniques are trivially implemented, but yet very powerful \cite{Afyouni2012}. 
+Here, a square-shaped or hexagonal grid covers the entire map. Especially in the area of simultaneous localisation and mapping (SLAM), so-called occupancy-grid approaches are very popular \cite{elfes1989using, Thrun2003}. 
+In an occupancy grid, a high probability is assigned to cells within accessible space, while cells occupied by obstacles or walls are less likely. 
+Additionally, every grid cell is able to hold some context information about the environment (e.g. elevators or stairs) or the behaviour of a pedestrian at this particular position (e.g. jumping or running). 
 
-...and walking into a rooms unwahrscheinlich.
+A similar approach is presented in \cite{Li2010}, \cite{Ebner-15} and is also used within this work. 
+By assuming that the floorplan is given beforehand, the occupied cells can be removed. 
+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. 
 
-deshalb grided tessellation graph. blabalba for 2D environments. later for 3D .. 
+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.
 
-also hyprid version of both like presented in. they use blabal.. balab 
+
+All this allows a wide range of possibilities for modelling the pedestrian's movement, while only sampling valid locations. 
+
+Computer Games
+
+Evacuation Route Planning
 
 
 
-remove degrees of freedom from the map -> less particles
 
-\subsection{State Transition}
 
 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. 
 
@@ -73,15 +81,6 @@ ansätze aus der robotic um einen roboter von a nach b zu schicken
 
 the idea of using navigational knowledge to simulate the human movement 
 
-\begin{itemize}
+
-	\item Allgemein indoor localizations systeme
-	\subitem was ist state of the art? 
-	\subitem klarstellen was wir anders/besser machen
-	\item graphen-basierte systeme
-	\subitem probability graph / transition
-	\item pathfinding for humans
-	\subitem computerspiele machen das schon ewig. robotor auch.
-	\subitem auf menschliches verhalten anpassen. gibt es viele theoritsche ansätze und simulationen aber in noch keinem system.
-\end{itemize}
 
 

tex/egbib.bib

@@ -2567,3 +2567,50 @@ title = {{Analysis of a complex of statistical variables into Principal Componen
 year = {1933}
 }
 
+@article{Thrun2003,
+abstract = {This article describes a new algorithm for acquiring occupancy grid maps with mobile robots. Existing occupancy grid mapping algorithms decompose the high-dimensional mapping problem into a collection of one-dimensional problems, where the occupancy of each grid cell is estimated independently. This induces conflicts that may lead to inconsistent maps, even for noise-free sensors. This article shows how to solve the mapping problem in the original, high-dimensional space, thereby maintaining all dependencies between neighboring cells. As a result, maps generated by our approach are often more accurate than those generated using traditional techniques. Our approach relies on a statistical formulation of the mapping problem using forward models. It employs the expectation maximization algorithm for searching maps that maximize the likelihood of the sensor measurements.},
+author = {Thrun, Sebastian},
+doi = {10.1023/A:1025584807625},
+file = {:home/toni/Documents/literatur/fusion16/thrun.iros01-occmap.pdf:pdf},
+isbn = {0-7803-6612-3},
+issn = {09295593},
+journal = {Autonomous Robots},
+keywords = {Bayesian techniques,Mapping,Mobile robotics,Probabilistic inference,Robot navigation,SLAM},
+language = {en},
+number = {2},
+pages = {111--127},
+pmid = {563334},
+publisher = {Kluwer Academic Publishers},
+title = {{Learning occupancy grid maps with forward sensor models}},
+volume = {15},
+year = {2003}
+}
+
+@article{Li2010,
+abstract = {While recent years have witnessed noticeable development of indoor GIS, there is still a lack of clear consensus on the modeling principles that should support such applications. The objective of the research presented in this paper is to represent two-dimensional (2D) indoor spaces with a grid graph-based model that takes into account the structural and spatial properties of an indoor space. The model developed considers a built environment as a frame of reference at different levels of granularity using a grid graph-based representation. The advantage of the modeling approach is that it combines structural and topological properties as well as implicitly taking into account the metric of space, this being often overlooked by most existing indoor space models. Several types of indoor space analysis are employed to illustrate the potential of the proposed model, such as route and diffusion analysis, centrality and topological analysis.},
+author = {Li, Xiang and Claramunt, Christophe and Ray, Cyril},
+doi = {10.1016/j.compenvurbsys.2010.07.006},
+file = {:home/toni/.local/share/data/Mendeley Ltd./Mendeley Desktop/Downloaded/Li, Claramunt, Ray - 2010 - A grid graph-based model for the analysis of 2D indoor spaces.pdf:pdf},
+issn = {01989715},
+journal = {Computers, Environment and Urban Systems},
+keywords = {Grid graph-based representation,Indoor spaces,Network,Structural-based modeling},
+month = {nov},
+number = {6},
+pages = {532--540},
+title = {{A grid graph-based model for the analysis of 2D indoor spaces}},
+volume = {34},
+year = {2010}
+}
+
+@article{elfes1989using,
+  title={Using occupancy grids for mobile robot perception and navigation},
+  author={Elfes, Alberto},
+  journal={Computer},
+  volume={22},
+  number={6},
+  pages={46--57},
+  year={1989},
+  publisher={IEEE}
+}
+
+