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Merge branch 'master' of https://git.frank-ebner.de/FHWS/IPIN2018

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tex_review/chapters/abstract.tex
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@@ -1,7 +1,7 @@
\abstract{ \abstract{
Within this work we present an updated version of our \del{award-winning} indoor localization system for smartphones. Within this work we present an updated version of our \del{award-winning} indoor localization system for smartphones.
The \add{pedestrian's} position is given by means of recursive state estimation using a particle filter to incorporate different probabilistic sensor models. The \add{pedestrian's} position is given by means of recursive state estimation using a particle filter to incorporate different probabilistic sensor models.
Our \del{rapid computation} \add{recently presented approximation} scheme of the kernel density estimation allows to find an exact estimation of the current position\add{, instead of classical methods like weighted-average}. Our \del{rapid computation} \add{recently presented approximation} scheme of the kernel density estimation allows to find an exact estimation of the current position\add{, compared to classical methods like weighted-average}.
% %
Absolute positioning information is given by a comparison between recent \docWIFI{} measurements of nearby access points and signal strength predictions. Absolute positioning information is given by a comparison between recent \docWIFI{} measurements of nearby access points and signal strength predictions.
Instead of using time-consuming approaches like classic fingerprinting or measuring the exact positions of access points, we use an optimization scheme based on a few reference measurements to estimate a corresponding \docWIFI{} model. Instead of using time-consuming approaches like classic fingerprinting or measuring the exact positions of access points, we use an optimization scheme based on a few reference measurements to estimate a corresponding \docWIFI{} model.

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tex_review/chapters/estimation.tex
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@@ -30,7 +30,7 @@ In the case of particle filters the MMSE estimate equals to the weighted-average
where $W_t=\sum_{i=1}^{N}w^i_t$ is the sum of all weights. where $W_t=\sum_{i=1}^{N}w^i_t$ is the sum of all weights.
While producing an overall good result in many situations, it fails when the posterior is multimodal. While producing an overall good result in many situations, it fails when the posterior is multimodal.
In these situations the weighted-average estimate will find the estimate somewhere between the modes. In these situations the weighted-average estimate will find the estimate somewhere between the modes.
Clearly, such a position between modes is extremely unlikely the position of the pedestrian. \del{Clearly}\add{It is expected that}, such a position between modes is extremely unlikely the position of the pedestrian.
The real position is more likely to be found at the position of one of the modes, but virtually never somewhere between. The real position is more likely to be found at the position of one of the modes, but virtually never somewhere between.
In the case of a multimodal posterior the system should estimate the position based on the highest mode. In the case of a multimodal posterior the system should estimate the position based on the highest mode.
@@ -39,7 +39,7 @@ A straightforward approach is to select the particle with the highest weight.
However, this is in fact not necessarily a valid MAP estimate, because only the weight of the particle is taken into account. However, this is in fact not necessarily a valid MAP estimate, because only the weight of the particle is taken into account.
In order to compute the true MAP estimate the local density of the particles needs to be considered as well \cite{cappe2007overview}. In order to compute the true MAP estimate the local density of the particles needs to be considered as well \cite{cappe2007overview}.
\del{It is obvious,} A computation of the probability density function of the posterior could solve the above, but finding such an analytical solution is clearly an intractable problem, which is the reason for applying a sample representation in the first place. \del{It is obvious,} A computation of the probability density function of the posterior could solve the above, but finding such an analytical solution is \del{clearly} an intractable problem, which is the reason for applying a sample representation in the first place.
A feasible alternative is to estimate the parameters of a specific parametric model based on the sample set, assuming that the unknown distribution is approximately a parametric distribution or a mixture of parametric distributions, \eg{} Gaussian mixture distributions. A feasible alternative is to estimate the parameters of a specific parametric model based on the sample set, assuming that the unknown distribution is approximately a parametric distribution or a mixture of parametric distributions, \eg{} Gaussian mixture distributions.
Given the estimated parameters the most probable state can be obtained from the parameterised density function. Given the estimated parameters the most probable state can be obtained from the parameterised density function.
%In the case of multi-modalities several parametric distributions can be combined into a mixture distribution. %In the case of multi-modalities several parametric distributions can be combined into a mixture distribution.

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tex_review/chapters/introduction.tex
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@@ -28,7 +28,7 @@ Many unknown quantities, like the walls definitive material or thickness, make i
Additionally, \del{most wireless} \add{many of these} approaches are based on a line-of-sight assumption. Additionally, \del{most wireless} \add{many of these} approaches are based on a line-of-sight assumption.
Thus, the performance will be even more limited due to the irregularly shaped spatial structure of such buildings. Thus, the performance will be even more limited due to the irregularly shaped spatial structure of such buildings.
Our approach tries to avoid those problems using an optimization scheme for Wi-Fi based on a \del{few} \add{set of} reference measurements. Our approach tries to avoid those problems using an optimization scheme for Wi-Fi based on a \del{few} \add{set of} reference measurements.
We distribute a \del{small number} \add{set} of \del{simple} \add{small (\SI{2.8}{\centi\meter} x \SI{3.5}{\centi\meter})} and cheap \add{($\approx \SI{10}{\$}$)} \docWIFI{} beacons over the whole building \add{to ensure a reasonable coverage} and instead of measuring their position \add{and necessary parameters, we use our optimization scheme, initially presented in \cite{Ebner-17}}. We distribute a \del{small number} \add{set} of \del{simple} \add{small (\SI{2.8}{\centi\meter} x \SI{3.5}{\centi\meter})} and cheap \add{($\approx \$10$)} \docWIFI{} beacons over the whole building \add{to ensure a reasonable coverage} and instead of measuring their position \add{and necessary parameters, we use our optimization scheme, initially presented in \cite{Ebner-17}}.
\add{An optimization scheme is able to compensate for wrongly measured access point positions, inaccurate building plans or other knowledge necessary for the Wi-Fi component. \add{An optimization scheme is able to compensate for wrongly measured access point positions, inaccurate building plans or other knowledge necessary for the Wi-Fi component.
} }
@@ -65,11 +65,11 @@ The goal of this work is to propose a fast to deploy \del{and low-cost} localiza
\add{However, many state-of-the-art solutions are evaluating their systems within office or faculty buildings, offering a modern environment and well described infrastructure.} \add{However, many state-of-the-art solutions are evaluating their systems within office or faculty buildings, offering a modern environment and well described infrastructure.}
Consequently, we believe that by utilizing our localization approach to such a challenging scenario, it is possible to prove those characteristics. Consequently, we believe that by utilizing our localization approach to such a challenging scenario, it is possible to prove those characteristics.
\add{To initially set up the system we only require a blueprint to create the floorplan, some Wi-Fi infrastructure, without any further information about access point positions or parameters, and a smartphone carried by the pedestrian to be localized. \add{To initially set up the system we only require a blueprint to create the floorplan, some Wi-Fi infrastructure, without any further information about access point positions or parameters, and a smartphone carried by the pedestrian to be localized.
The existing Wi-Fi infrastructure can consist of the aforementioned Wi-Fi beacons and / or already existing access points. The existing Wi-Fi infrastructure can consist of the aforementioned Wi-Fi beacons and/or already existing access points.
The combination of both technologies is feasible, depending on the scenario and building. The combination of both technologies is feasible, depending on the scenario and building.
Nevertheless, the museum considered in this work has no Wi-Fi infrastructure at all, not even a single access point. Nevertheless, the museum considered in this work has no Wi-Fi infrastructure at all, not even a single access point.
Thus, we distributed a set of \SI{42}{beacons} throughout the complete building by simply plugging them into available power outlets. Thus, we distributed a set of \SI{42}{beacons} throughout the complete building by simply plugging them into available power outlets.
Despite evaluating the novel contributions and the overall performance of the system, we have carried out additional experiments to determine the performance of our Wi-Fi optimization in such a complex scenario as well as a detailed comparison between KDE-based and weighted-average position estimation.} In addition to evaluating the novel contributions and the overall performance of the system, we have carried out further experiments to determine the performance of our Wi-Fi optimization in such a complex scenario as well as a detailed comparison between KDE-based and weighted-average position estimation.}
%novel experiments to previous methods due to the complex scenario blah und blub.} %novel experiments to previous methods due to the complex scenario blah und blub.}
%Finally, it should be mentioned that the here presented work is an highly updated version of the winner of the smartphone-based competition at IPIN 2016 \cite{Ebner-15}. %Finally, it should be mentioned that the here presented work is an highly updated version of the winner of the smartphone-based competition at IPIN 2016 \cite{Ebner-15}.