Integrating bluetooth and LoRa networking with RGB-D cameras for indoor location and mapping

智能手机、物联网和3D地图技术的快速发展正在为位置感知服务创造新的市场。尽管许多手机可以接收全球导航卫星系统(GNSS)信号，但GNSS在室内或城市峡谷中并不有效。这通常是通过观察无线局域网(WLAN)信号的信号强度来解决的，这些信号提供约20米的水平精度，然而，新的低功率无线通信标准(蓝牙低能量、BLE和低功率广域网协议LORA)正在出现，它们可以以更高的精度和更低的基础设施成本取代WLAN定位。与此同时，低成本的RGB-D(红、绿、蓝、深)距离相机正出现在移动设备中，并将很快成为构建室内3D模型的信息源。这项提案描述了对新型室内定位和测绘系统的两个方面的调查，该系统集成了RGB-D距离相机和由低成本蓝牙和LORA节点与移动信标网络交互的独特网络架构，该网络可能包括用于室内定位和测绘的配备RGB-D的智能手机。该项目旨在提高RGB-D点配准云在大面积室内区域的精度。目前的RGB-D技术仅依赖导航数据，不能提供足够的精度来提供可靠的点云。具体地说，该提案涉及提取利用距离相机获得的点云的新算法、这些点云中存在的系统误差的评估以及使用BLE/LORA信号的新网络来定位相机。合作伙伴组织Approprolis Inc.需要开发无线定位和室内3D建模解决方案，以便将其产品和服务商业化。除了开发强大的**室内导航和测绘解决方案外，合作还将培训7名新的HQP在这一不断增长的领域工作，并帮助将卡尔加里打造成室内定位和测绘的全球卓越中心，以增加该市目前的地理信息产业集群。

The rapid development of smart phones, internet-of-things and 3D mapping technologies is creating new markets in location-aware services. Although many phones can receive Global Navigation Satellite System (GNSS) signals, GNSS is not effective indoors or in urban canyons. This is most often solved though observing signal strengths of wireless local area network (WLAN) signals providing horizontal accuracy on the order of 20 m, however new lower-power wireless communications standards (Bluetooth low energy, BLE and a low-power wide area network protocol called LoRa) are emerging that could replace WLAN positioning with higher accuracies and lower infrastructure costs. In parallel, low cost RGB-D (red, green, blue, depth) range cameras are appearing in mobile devices and will soon become a source information for constructing indoor 3D models. This proposal describes the investigation of two aspects of a novel indoor positioning and mapping system that integrates an RGB-D range camera and a unique network architecture of low cost Bluetooth and LoRa nodes interacting with a network of mobile beacons that may include an RGB-D equipped smartphone being used for indoor location and mapping. The project aims to improve the accuracy of the RGB-D point registration cloud in large indoor areas. The current RGB-D technology relies solely on navigation data that does not provide sufficient accuracy to provide reliable point clouds. Specifically, the proposal deals with novel algorithms to extract point clouds obtained with the range camera, the assessment of the systematic errors present in these point clouds, and positioning the camera using a novel network of BLE/LoRa signals. The partner organization, Approprolis Inc., requires the wireless location and indoor 3D modelling solutions that will be developed in order to commercial their products and services. In addition to the development of robust**indoor navigation and mapping solutions, the collaboration will also train 7 new HQP to work in this growing area and help establish Calgary as a global centre of excellence in indoor positioning and mapping to add to the current cluster of geomatics industries in the city.