Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies and mechanisms have been proposed in the literature to provide indoor localization services in order to improve the services provided to the users. However, there is a lack of an up-to-date survey paper that incorporates some of the recently proposed accurate and reliable localization systems. In this paper, we aim to provide a detailed survey of different indoor localization techniques, such as angle of arrival (AoA), time of flight (ToF), return time of flight (RTOF), and received signal strength (RSS); based on technologies, such as WiFi, radio frequency identification device (RFID), ultra wideband (UWB), Bluetooth, and systems that have been proposed in the literature. This paper primarily discusses localization and positioning of human users and their devices. We highlight the strengths of the existing systems proposed in the literature. In contrast with the existing surveys, we also evaluate different systems from the perspective of energy efficiency, availability, cost, reception range, latency, scalability, and tracking accuracy. Rather than comparing the technologies or techniques, we compare the localization systems and summarize their working principle. We also discuss remaining challenges to accurate indoor localization.

A Survey of Indoor Localization Systems and Technologies

The solid-state lighting is revolutionizing the indoor illumination. Current incandescent and fluorescent lamps are being replaced by the LEDs at a rapid pace. Apart from extremely high energy efficiency, the LEDs have other advantages such as longer lifespan, lower heat generation, and improved color rendering without using harmful chemicals. One additional benefit of LEDs is that they are capable of switching to different light intensity at a very fast rate. This functionality has given rise to a novel communication technology (known as visible light communication—VLC) where LED luminaires can be used for high speed data transfer. This survey provides a technology overview and review of existing literature of visible light communication and sensing. This paper provides a detailed survey of 1) visible light communication system and characteristics of its various components such as transmitter and receiver; 2) physical layer properties of visible light communication channel, modulation methods, and MIMO techniques; 3) medium access techniques; 4) system design and programmable platforms; and 5) visible light sensing and application such as indoor localization, gesture recognition, screen-camera communication, and vehicular networking. We also outline important challenges that need to be addressed in order to design high-speed mobile networks using visible light communication.

Visible Light Communication, Networking, and Sensing: A Survey, Potential and Challenges

This paper presents the design and implementation of SpotFi, an accurate indoor localization system that can be deployed on commodity WiFi infrastructure. SpotFi only uses information that is already exposed by WiFi chips and does not require any hardware or firmware changes, yet achieves the same accuracy as state-of-the-art localization systems. SpotFi makes two key technical contributions. First, SpotFi incorporates super-resolution algorithms that can accurately compute the angle of arrival (AoA) of multipath components even when the access point (AP) has only three antennas. Second, it incorporates novel filtering and estimation techniques to identify AoA of direct path between the localization target and AP by assigning values for each path depending on how likely the particular path is the direct path. Our experiments in a multipath rich indoor environment show that SpotFi achieves a median accuracy of 40 cm and is robust to indoor hindrances such as obstacles and multipath.

https://dl.acm.org/doi/pdf/10.1145/2785956.2787487

SpotFi: Decimeter Level Localization Using WiFi

Radio Frequency (RF) fingerprinting, based onWiFi or cellular signals, has been a popular approach to indoor localization. However, its adoption in the real world has been stymied by the need for sitespecific calibration, i.e., the creation of a training data set comprising WiFi measurements at known locations in the space of interest. While efforts have been made to reduce this calibration effort using modeling, the need for measurements from known locations still remains a bottleneck. In this paper, we present Zee -- a system that makes the calibration zero-effort, by enabling training data to be crowdsourced without any explicit effort on the part of users. Zee leverages the inertial sensors (e.g., accelerometer, compass, gyroscope) present in the mobile devices such as smartphones carried by users, to track them as they traverse an indoor environment, while simultaneously performing WiFi scans. Zee is designed to run in the background on a device without requiring any explicit user participation. The only site-specific input that Zee depends on is a map showing the pathways (e.g., hallways) and barriers (e.g., walls). A significant challenge that Zee surmounts is to track users without any a priori, user-specific knowledge such as the user's initial location, stride-length, or phone placement. Zee employs a suite of novel techniques to infer location over time: (a) placement-independent step counting and orientation estimation, (b) augmented particle filtering to simultaneously estimate location and user-specific walk characteristics such as the stride length,(c) back propagation to go back and improve the accuracy of ocalization in the past, and (d) WiFi-based particle initialization to enable faster convergence. We present an evaluation of Zee in a large office building.

/pdf/zee-zero-effort-crowdsourcing-for-indoor-localization-332av53un0.pdf

Zee: zero-effort crowdsourcing for indoor localization

The growing commercial interest in indoor location-based services (ILBS) has spurred recent development of many indoor positioning techniques. Due to the absence of global positioning system (GPS) signal, many other signals have been proposed for indoor usage. Among them, Wi-Fi (802.11) emerges as a promising one due to the pervasive deployment of wireless LANs (WLANs). In particular, Wi-Fi fingerprinting has been attracting much attention recently because it does not require line-of-sight measurement of access points (APs) and achieves high applicability in complex indoor environment. This survey overviews recent advances on two major areas of Wi-Fi fingerprint localization: advanced localization techniques and efficient system deployment. Regarding advanced techniques to localize users, we present how to make use of temporal or spatial signal patterns, user collaboration, and motion sensors. Regarding efficient system deployment, we discuss recent advances on reducing offline labor-intensive survey, adapting to fingerprint changes, calibrating heterogeneous devices for signal collection, and achieving energy efficiency for smartphones. We study and compare the approaches through our deployment experiences, and discuss some future directions.

/pdf/wi-fi-fingerprint-based-indoor-positioning-recent-advances-1sxd8ckwi0.pdf

Wi-Fi Fingerprint-Based Indoor Positioning: Recent Advances and Comparisons

While WiFi-based indoor localization is attractive, the need for a significant degree of pre-deployment effort is a key challenge. In this paper, we ask the question: can we perform indoor localization with no pre-deployment effort? Our setting is an indoor space, such as an office building or a mall, with WiFi coverage but where we do not assume knowledge of the physical layout, including the placement of the APs. Users carrying WiFi-enabled devices such as smartphones traverse this space in normal course. The mobile devices record Received Signal Strength (RSS) measurements corresponding to APs in their view at various (unknown) locations and report these to a localization server. Occasionally, a mobile device will also obtain and report a location fix, say by obtaining a GPS lock at the entrance or near a window. The centerpiece of our work is the EZ Localization algorithm, which runs on the localization server. The key intuition is that all of the observations reported to the server, even the many from unknown locations, are constrained by the physics of wireless propagation. EZ models these constraints and then uses a genetic algorithm to solve them. The results from our deployment in two different buildings are promising. Despite the absence of any explicit pre-deployment calibration, EZ yields a median localization error of 2m and 7m, respectively, in a small building and a large building, which is only somewhat worse than the 0.7m and 4m yielded by the best-performing but calibration-intensive Horus scheme [29] from prior work.

/pdf/indoor-localization-without-the-pain-2cpbpkl6wl.pdf

Indoor localization without the pain

We aim to detect and diagnose energy anomalies, abnormally heavy battery use. This paper describes a collaborative black-box method, and an implementation called Carat, for diagnosing anomalies on mobile devices. A client app sends intermittent, coarse-grained measurements to a server, which correlates higher expected energy use with client properties like the running apps, device model, and operating system. The analysis quantifies the error and confidence associated with a diagnosis, suggests actions the user could take to improve battery life, and projects the amount of improvement. During a deployment to a community of more than 500,000 devices, Carat diagnosed thousands of energy anomalies in the wild. Carat detected all synthetically injected anomalies, produced no known instances of false positives, projected the battery impact of anomalies with 95% accuracy, and, on average, increased a user's battery life by 11% after 10 days (compared with 1.9% for the control group).

https://anand-iyer.com/papers/carat-sensys2013.pdf

Carat: collaborative energy diagnosis for mobile devices

Wireless LANs (WLANs) have been deployed at a remarkable rate at university campuses, office buildings, airports, hotels, and malls. Providing efficient and reliable wireless communications is challenging due to inherent lossy wireless medium and imperfect packet scheduling that results in packet collisions. In this paper, we develop an efficient retransmission scheme (ER) for wirless LANs. Instead of retransmitting the lost packets in their original forms, ER codes packets lost at different destinations and uses a single retransmission to potentially recover multiple packet losses. We develop a simple and practical protocol to realize the idea and implement it in both simulation and testbed, and our results demonstrate the effectiveness of this approach.

/pdf/er-efficient-retransmission-scheme-for-wireless-lans-9y4orrml72.pdf

ER: efficient retransmission scheme for wireless LANs

In this demonstration, we present BlinkDB, a massively parallel, sampling-based approximate query processing framework for running interactive queries on large volumes of data. The key observation in BlinkDB is that one can make reasonable decisions in the absence of perfect answers. BlinkDB extends the Hive/HDFS stack and can handle the same set of SPJA (selection, projection, join and aggregate) queries as supported by these systems. BlinkDB provides real-time answers along with statistical error guarantees, and can scale to petabytes of data and thousands of machines in a fault-tolerant manner. Our experiments using the TPC-H benchmark and on an anonymized real-world video content distribution workload from Conviva Inc. show that BlinkDB can execute a wide range of queries up to 150x faster than Hive on MapReduce and 10--150x faster than Shark (Hive on Spark) over tens of terabytes of data stored across 100 machines, all with an error of 2--10%.

https://amplab.cs.berkeley.edu/wp-content/uploads/2013/04/blinkdb_vldb12_demo.pdf

Anand Padmanabha Iyer

Papers

Indoor localization without the pain

Carat: collaborative energy diagnosis for mobile devices

ER: efficient retransmission scheme for wireless LANs

Blink and it's done: interactive queries on very large data

Blink and it's done: Interactive queries on very large data