Journal Article

Machine-learning-based system for multi-sensor 3D localisation of stationary objects

Berz, Everton L., Hessel, Fabiano P., Tesch, Deivid A.

2018

Overview

Localisation of objects and people in indoor environments has been widely studied due to security issues and because of the benefits that a localisation system can provide. Indoor positioning systems (IPSs) based on more than one technology can improve localisation performance by leveraging the advantages of distinct technologies. This study proposes a multi-sensor IPS able to estimate the three-dimensional (3D) location of stationary objects using off-the-shelf equipment. By using radio-frequency identification (RFID) technology, machine-learning models based on support vector regression (SVR) and artificial neural networks (ANNs) are proposed. A k-means technique is also applied to improve accuracy. A computer vision (CV) subsystem detects visual markers in the scenario to enhance RFID localisation. To combine the RFID and CV subsystems, a fusion method based on the region of interest is proposed. We have implemented the authors’ system and evaluated it using real experiments. On bi-dimensional scenarios, localisation error is between 9 and 29 cm in the range of 1 and 2.2 m. In a machine-learning approach comparison, ANN performed 31% better than SVR approach. Regarding 3D scenarios, localisation errors in dense environments are 80.7 and 73.7 cm for ANN and SVR models, respectively.

• Publisher: The Institution of Engineering and Technology,John Wiley & Sons, Inc,Wiley
• Subject: Accuracy / ANN models / Artificial neural networks / bi-dimensional scenarios / Cameras / Computer vision / computer vision subsystem / CV subsystems / image fusion / Indoor environments / indoor navigation / Indoor positioning systems / k-means technique / Lasers / learning (artificial intelligence) / Light emitting diodes / localisation error / localisation performance / Localization / Machine learning / machine-learning-based system / multisensor 3D localisation / multisensor IPS / neural nets / object detection / object localisation / people localisation / Radio frequency identification / radio-frequency identification technology / radiofrequency identification / region of interest / regression analysis / RFID localisation / security issues / Sensors / Special Issue: Reliability and Quality Control for Cyber-Physical Systems / stationary objects / Subsystems / Support vector machines / support vector regression / SVR models / three-dimensional location / visual markers