.............................................................................................................................................................. 6 1 Introduction ............................................................................................................................................. 7 1.1 Motivation .......................................................................................................................................................... 7 1.2 Previous Surveys ............................................................................................................................................. 8 1.3 Overview of Technologies ........................................................................................................................... 9 1.4 Indoor Positioning Applications ............................................................................................................ 11 1.5 Structure of this Work ............................................................................................................................... 14 2 User Requirements ............................................................................................................................. 15 2.1 Requirements Parameters Overview .................................................................................................. 15 2.2 Positioning Requirements Parameters Definition ......................................................................... 17 2.3 Man Machine Interface Requirements ................................................................................................ 19 2.4 Security and Privacy Requirements ..................................................................................................... 20 2.5 Costs .................................................................................................................................................................. 20 2.6 Generic Derivation of User Requirements......................................................................................... 20 2.7 Requirements for Selected Indoor Applications ............................................................................. 21 3 Definition of Terms ............................................................................................................................. 25 3.1 Disambiguation of Terms for Positioning .......................................................................................... 25 3.2 Definition of Technical Terms ................................................................................................................ 27 3.3 The Basic Measuring Principles ............................................................................................................. 29 3.4 Positioning Methods ................................................................................................................................... 31 4 Cameras .................................................................................................................................................. 34 4.1 Reference from 3D Building Models .................................................................................................... 35 4.2 Reference from Images .............................................................................................................................. 36 4.3 Reference from Deployed Coded Targets .......................................................................................... 37 4.4 Reference from Projected Targets ........................................................................................................ 38 4.5 Systems without Reference ..................................................................................................................... 39 4.6 Reference from Other Sensors ............................................................................................................... 40 4.7 Summary on Camera Based Indoor Positioning Systems ........................................................... 40 5 Infrared ................................................................................................................................................... 42 5.1 Active Beacons .............................................................................................................................................. 42 5.2 Imaging of Natural Infrared Radiation ............................................................................................... 43 5.3 Imaging of Artificial Infrared Light ....................................................................................................... 43 5.4 Summary on Infrared Indoor Positioning Systems ....................................................................... 44

Indoor Positioning Technologies

Review: A survey of active and passive indoor localisation systems

In this paper, we present a new generation of active tactile modules (i.e., HEX-O-SKIN), which are developed in order to approach multimodal whole-body-touch sensation for humanoid robots. To better perform like humans, humanoid robots need the variety of different sensory modalities in order to interact with their environment. This calls for certain robustness and fault tolerance as well as an intelligent solution to connect the different sensory modalities to the robot. Each HEX-O-SKIN is a small hexagonal printed circuit board equipped with multiple discrete sensors for temperature, acceleration, and proximity. With these sensors, we emulate the human sense of temperature, vibration, and light touch. Off-the-shelf sensors were utilized to speed up our development cycle; however, in general, we can easily extend our design with new discrete sensors, thereby making it flexible for further exploration. A local controller on each HEX-O-SKIN preprocesses the sensor signals and actively routes data through a network of modules toward the closest PC connection. Local processing decreases the necessary network and high-level processing bandwidth, while a local analog-to-digital conversion and digital-data transfers are less sensitive to electromagnetic interference. With an active data-routing scheme, it is also possible to reroute the data around broken connections-yielding robustness throughout the global structure while minimizing wirings. To support our approach, multiple HEX-O-SKIN are embedded into a rapid-prototyped elastomer skin material and redundantly connected to neighboring modules by just four ports. The wiring complexity is shifted to each HEX-O-SKIN such that a power and data connection between two modules is reduced to four noncrossing wires. Thus, only a very simple robot-specific base frame is needed to support and wire the HEX-O-SKIN to a robot. The potential of our multimodal sensor modules is demonstrated experimentally on a robot platform.

/pdf/humanoid-multimodal-tactile-sensing-modules-3rjz3ipalv.pdf

Humanoid Multimodal Tactile-Sensing Modules

https://mediatum.ub.tum.de/doc/1083646/file.pdf

Humanoid Multi-Modal Tactile Sensing Modules

A system (and corresponding method) that can enhance a user experience by augmenting real-world experiences with virtual world data to is provided. The augmented reality system discloses various techniques to personalize real-world experiences by overlaying or interspersing virtual capabilities (and data) with real world situations. The innovation can also filter, rank, modify or ignore virtual-world information based upon a particular real-world class, user identity or context.

Augmented reality and filtering

In this paper we discuss the development of 'Z-Tiles' in conjunction with a sister project, 'Self-Organising Sensors' (SOS). Combined, these projects will result in a pressure sensitive, self-organising, interactive sensor design that can be embedded into appropriate environments. The shared objective of these projects is to further our understanding of movement and gesture. In this paper, we discuss the design and behaviour of a force sensing material, the physical design of the sensor encasement and the software that allows the sensors to communicate and self-organise. The issues of modularity and portability are also discussed in this paper, while consideration has also been given to the conceptualisation and development of a variety of prototypes; ranging from entertainment to potential therapeutic applications. Essentially, the Z-tiles sensor can be used in control surfaces where force, weight distribution or motion is used as control parameters.

/pdf/forse-fields-force-sensors-for-interactive-environments-3sracl0kot.pdf

'ForSe FIElds' - Force Sensors for Interactive Environments

A new interactive floorspace has been developed which uses modular odes connected together to create a pressure-sensitive area of varying size and shape, giving it the potential to be integrated into an interactive environment. The floorspace uses an array of force-sensitive resistors on each node to detect pressure, and that pressure information is output by way of a self-organised network formed by the floor nodes. This paper describes the pressure sensing and network systems, suggests potential applications of the floorspace, and introduces the further research on in-network data aggregation being carried out using the system's framework.

https://resenv.media.mit.edu/pubs/papers/2004-05-Z-Tiles.pdf

Z-Tiles: building blocks for modular, pressure-sensing floorspaces

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'ForSe FIElds' - Force Sensors for Interactive Environments

Z-Tiles: building blocks for modular, pressure-sensing floorspaces