Figures & data
Figure 1 Example of generating floor plan geodetic information using the Google Floor Plan project.
Figure 2 Floor plan frame and geo-reference information.
Figure 3 Correspondences (common points) of indoor hallway features in image and floor plan picture.
Figure 4 Image frame (blue); camera frame (red); floor plan frame (green).
Figure 5 System flowchart.
Figure 6 Navigation algorithm.
Figure 7 Indoor test areas.
Figure 8 Left: standard hallway of the END block; Middle: irregular hallway of the ENE block; Right: open area of the ENA block.
Figure 9 Screen shots of iOS App.
Figure 10 Initial Wi-Fi-based positions, their mean and STD position error.
Figure 11 Final derived positions using the proposed system, their mean, and STD position errors.
Figure 12 RMS position errors at 50 landmarks.
Figure 13 Success and failure rates of the proposed system compared to Wi-Fi.
Figure 14 Statistics on computational speed.
