11:15 - 13:15

The demonstration of the Bodyguard-System illustrates the combination of different sensors from different areas of technology, including software analysis and parameterisation, resulting in an innovative indoor tracking system based on a wireless sensor network. The new hardware platform represents the outcome of sensor fusion with three-dimensional motion vector pattern recognition. The measured data of the individual sensors is evaluated with respect tothe physical quantities and additionally to their weighted quality indicators. This quality assessment reduces the influence of environmental parameters on the motion vector and is used for an enhanced position estimation. In addition to the motion-sensor data, the information from the radio transceiver is exploited for the recognition of the environment. This enables gradual reconstruction of the environmental scenario. The demonstration shows the fusion of all the information obtained using hardware and software.

Slide Presentation: Hybrid IMU Pedestrian Navigation 1, Wednesday, September 15 Auditorium G3, 15:00 - 15:15

11:15 - 13:15

We demonstrate a real-time localization system using an ultrasonic communication. This system can simultaneously estimate not only the 3D position but also the velocity of a moving object. This system uses an original and innovative method called “extended phase accordance method” (EPAM) that can precisely estimate the distance between an ultrasonic microphone and a moving transmitter by rapidly measuring the frequency shift of the transmitted signal. One remarkable feature of the proposed system is the use of a single compact receiver unit whose size is 80x80x60 mm, which will reduce deployment labor and costs.

Slide Presentation: Ultrasound Systems, Wednesday, September 15 Auditorium J6, 14:15 - 14:45

11:15 - 13:15

During a demo session, a UWB technology-based ranging platform with real-time signal processing will be presented. It is based on the time-o-arrival method and energy detection receiver architecture. The ranging platform consists of a signal generator, UWB pulse generator, LeCroy sampling oscilloscope, phase-locked loop (PLL) evaluation board, and UWB antennas. All signal processing done by the receiver is performed by a software application written in Visual Basic and operating real-time on the oscilloscope. The presented platform enables real-time experiments with different algorithms and hardware components and may serve as a proof of concept for the chosen approach in the UWB technology development. Moreover, it allows for verification of the ranging system performance and provides insights into technology limits and effects of bandwidth and system parameters.

Slide Presentation: Ultra Wide Band, Thursday, September 16, Auditorium D8,  10:45 - 11:15

11:15 - 13:15

Our OIL (organic indoor localization) system uses 802.11 fingerprints to localize client devices.  While some 802.11 based  systems  assume knowledge of AP locations or have a surveying phase done by experts, OIL is based on the contributions of everyday users.  We have equipped Nokia N810 tablets with maps based on our building's  floor plans  and have asked users to contribute data.  In this demo, people will be given an N810 tablet equipped with a map of the demo building.  As they walk around the demo area, they will be able to see that the tablet has localized them to the correct room.  They will also be able to contribute data to the system.  We will also show the integration of this localization system with a patient monitoring system.

Slide Presentation: Applications of Location Awareness, Thursday, September 16, Auditorium D2,  11:45 - 11:47

15:00 - 17:00

We present an effective, compact and easy to deploy system for Direction of Arrival (DoA) indoor localization. It is based on a Switched Beam Antenna (SBA), a signal multiplexer and the Received Signal Strength Indicator (RSSI). The DoA localization is based on the measure of the signal strength at the SBA antenna elements, whose structure is configured as a hemi-dodecahedron. The six elements composing the SBA are activated sequentially and are able to cover a wide angular region thanks to their regular disposition, thus receiving different RSSI's from the same target position. The operation in Circular Polarization (CP) grants the possibility of reliable links regardless of the relative orientation and thus making the link more robust to multipath. Placed on the ceiling of a indoor space, the position of a target is determined by the estimation of the spherical coordinate which immediately leads to the absolute position via trigonometric functions.

Slide Presentation: Session RF RSS, Wednesday, September 15 Auditorium G7, 10:30 - 11:00

15:00 - 17:00

A symbolic world model for the conference building will be created and stored in a server. A Symbolic Contextualizer service that establishes the connection between the model and the applications, a routing application, a model editor and a model browser will be installed. Our demonstration will be twofold. On one hand, there will be a routing application that calculates the shortest path between two objects form the model (an origin and a destination given by the user) based on the existing relations between them and gives a list of places that the user should visit in order to reach his destination. On his way, the user should recognize the places indicated by the application through their names or descriptions. On the other hand, we will allow users to create and visualize their own space models with the model editor and browser.

Slide Presentation: Context Detections & Awareness, Friday, September 17, Auditorium D2, 10:45 - 11:15

15:00 - 17:00

We present the novel indoor positioning system CLIPS that is currently developed at the Institute of Geodesy and Photogrammetry at the ETH Zurich. The central idea of the new indoor positioning system is to determine the relative orientation of a digital camera with respect to a laser emitting light source that we call “laser-hedgehog”. The projecting light source consists of sixteen focused laser-beams that originate from a static, well-defined central point. This device projects well-distributed laser spots as flexible reference points on the ceiling, walls and furnishings in any indoor environment. By observing the projected reference field with the digital camera the relative orientation can be determined subsequent to point identification by introducing the coplanarity constraints of epipolar geometry.

Slide Presentation: Optical Systems, Thursday, September 17, Auditorium D2, 16:00 - 16:30

15:00 - 17:00

Nikon Metrology Indoor GPS, or iGPS, is a measurement system based on triangulation, similar to ‘conventional’ satellite GPS but it is much more accurate (iGPS resolution is in micro-meters compared to meters for conventional GPS). iGPS systems consist of a network of transmitters, that emit fans of laser light that are detected by sensors. When a sensor receives laser light from two or more transmitters the location of that sensor can be accurately triangulated. Nikon Metrology iGPS is applied for large scale assembly in aerospace and shipbuilding, for tracking and robotic control and for large scale metrology.

11:15 - 13:15

The SX-NSR is a real-time GNSS software receiver with the possibility to process simultaneously data from other sensors (WiFi, IMU, ...). The system can be used to setup a ultra-tightly coupled GNSS/INS system suitable for indoor navigation. Absolute positioning information is derived from GNSS signals received through windows or from attenuated signals received through walls and the relative positioning is performed by a dead-reckoning based pedestrian navigation system. The integration source code is written in C, is compiled as an DLL, and is loaded into the software receiver. The source code and and a demo version of the software receiver can be downloaded free of charge from www.ifen.com and may serve as a basis for own developments.

Slide Presentation: High Sensitive GNSS, Wednesday, September 15 Auditorium D2,  17:30 - 17:45

11:15 - 13:15

We present our low-cost ultrasound-based ranging platform designed to augment existing wireless sensor nodes with distance and angle information. An array of four independently controllable ultrasound transmitters and receivers enables accurate measurements of distances and angles between sensor nodes. Furthermore, each node features a digital compass which allows us to gather additional information, e.g., to detect whether two nodes are in line-of-sight. An IEEE 802.15.4-based radio transceiver is used to initiate the ultrasound ranging procedure between neighboring sensor nodes and to control the experiments. Mutual distance and angle measurements are reported back to the base station for further processing. Finally, the current location of a sensor node is displayed on the visualization panel to the user nearly in real-time. During our demonstration, we encourage conference participants to freely move around the sensor nodes in the room to evaluate the performance of the system.

11:15 - 13:15

The indoor positioning demonstrator shows a hybrid positioning system combining angle-based location, PDR (Pedestrian Dead Reckoning), and map filtering.

Slide Presentation: Hybrid IMU Pedestrian Navigation 1, part 2, Wednesday, September 15 Auditorium G3, 13:15 - 13:45

11:15 - 13:15

IndoorWPS is a Wireless Positioning System project (WPS) of the Institute for Software (HSR) based on the Wi-Fi positioning technique. It functions in dense suburban areas and in buildings, hence in those environments where GPS signals are too low. The position is being processed locally (offline mode) based on signal strengths (so-called fingerprints). It's positional accuracy is about room level, i.e. 4 to 10 meters. Aside positional information the system also manages height (floor plan level) information as well as information about rooms and buildings. IndoorGuide4Android is a mobile guide with POIs indoors and in campuses or museums based on Android ('Google Handy'). It's open source and it uses IndoorWPS' Java libraries. The IndoorWPS Community Server serves as an open platform for sharing floor plans and fingerprints. For more information see http://labs.geometa.info/indoorwps/

11:15 - 13:15

Brain Clipp (at UNC), Jongwoo Lim (at Honda Research), Jan-Michael Frahm (at UNC), Marc Pollefeys (at ETH Zurich): Visual Stereo SLAM
This demonstration is of a novel, real-time visual SLAM system. The system takes advantage of the inherent parallelism in the VSLAM problem to create maps of large areas online and in real-time. We show results of real-time feature tracking, visual odometry, loop detection using a vocabulary tree and loop correction with bundle adjustment.

Georges Baatz (at ETH Zurich), Kevin Köser, David Chen (at Stanford), Radek Gryesycyuk (at Nokia Research), Marc Pollefeys (at ETH Zurich):
We consider the problem of mobile phone based location recognition. This could be to obtain information about a painting in a huge museum or outdoor to find out what building a user is seeing, where we focus on the second application. Here, massive street-level image data is used to generate a database-like representation of a city offline, where additionally rough building models are exploited to allow for 3D rotation invariant feature matching and cell phone pose estimation.

Lorenz Meier (at ETH Zurich), Petri Tanskanen, Friedrich Fraundorfer, Marc Pollefeys: On-board Computer Vision-Based Control of a Micro Helicopter
The demo shows a small quadrotor helicopter that is fully autonomously stabilized with the support of computer vision completely onboard. This platform enables optimized algorithms to directly run onboard while also providing acceptable battery life without the need for error-prone and high-latency video transmissions. The helicopter is able to perform basic autonomous flight operations such as take-off and landing, position hold and waypoint following.

15:00 - 17:00

We present the map modelling toolkit YAMAMOTO, which allows to efficiently model and design assistive building environments in 3-D. We focus on the tool’s ability to represent and simulate sensors and actuators, i.e. navigational beacons used for indoor positioning and navigation purposes. An interactive avatar can be used to simulate and evaluate location-based applications in the virtual model. Vice versa, the model can be used to visualize the state of the real world, including the location of the user and the content of public displays.

Slide Presentation: Mapping, SLAM, Wednesday, September 15 Auditorium D8,  16:30 - 17:00

15:00 - 17:00

Using four small size fluorescent lights, we will make a demonstration of Lego robot control. In the downlink, peculiar ID that corresponds to the location information is received with an optical sensor, and the robot uses it to control.

Slide Presentation: Innovative Systems, Friday, September 17 Auditorium D8,  11:30 - 11:45

15:00 - 17:00

Redpin is an open source indoor positioning system that was developed at the ETH Zurich with the goal of providing at least room-level accuracy. It is a fingerprinting system that attaches the current location to previous WiFi measurements. You are welcome to download the app on your iPhone and use it as an IPIN conference guide or just watch how it performs in the HCI building. Further information see Redpin http://www.redpin.org.

15:00 - 17:00

CoaX is the first product of Skybotix, designed for academic markets. It is a unique robotic coaxial helicopter equipped with state of the art sensors and processors. The CoaX is equipped with an integrated Inertial Measurement Unit (IMU), a pressure sensor, a down-looking sonar, three side looking range sensors and a color camera. To communicate, the robot has Bluetooth  and WiFi modules. The CoaX comes with two DSPs (one for the IMU, the other for control) and one Overo tiny computer (Gumstix) running Linux. The Overo is designed to allow autonomous behaviours to be easily developed and can control the system through an open-source API (taking-off, landing or any other type of motion). It can also be controlled via a 2.4GHz remote control. The demonstration will show the helicopter in flight and position stabilisation using a optical flow sensor from a standard desktop mouse.

Although GPS positioning is very successful in outdoor areas, it is hard to decode GPS signals indoors due to the additional signal loss caused by the buildings and walls. In our experimental set-up, in order to solve indoor coverage problem, we propose a novel indoor positioning system based on GPS infrastructure. Our proposed indoor positioning system consists of directional GPS antennas, GPS repeaters and a GPS receiver with improved positioning algorithms. In order to analyze the proposed indoor positioning system for two dimensional positioning, three novel directional GPS antennas, very low noise GPS repeaters with amplifiers are designed, manufactured and will be deployed at the conference demo room. Positioning algorithms are implemented in a real time platform to calculate the 2D position.

Slide Presentation: GNSS Indoor, Pseudolites, Wednesday, September 15, Auditorium D2, 14:45 - 15:00

The objective of his demonstration is to make the participants of the conference familiar with the proposed methodology for indoor positioning.

Oral Presentation: Ultra Sound Systems, Part 2, Wednesday, September 15, Auditorium J6, 15:17 - 15:19

We present the hardware implementation of a particle filter for location estimation. Based on distance information to static network nodes, the filter estimates the three-dimensional position of a mobile network node. The design has been derived from a set of formal operation properties and synthesized for an FPGA prototype platform. The correct functionality of the implementation is shown using time-of-flight based distance measurements from our IEEE 802.15.4a compliant wireless network.

Oral Presentation: TOF TDOA, Thursday, September 16, Auditorium G7, 15:02 - 15:04

UWB sensor connected to a small linear antenna array (1Tx 2Rx) will be used for the localisation of one moving person in an area of about 3m x 3m. The person will be localised passively just by electromagnetic waves reflected from its body. The demonstration will explain basic steps that are necessary to obtain location estimate from row measured data.

Slide Presentation: Ultra Wide Band, Part 3, Thursday, September 16, Auditorium D8, 14:45 - 15:00

LPM (Local Position Measurement) is a unique, globally patented system for local position measurement in real time. LPM is the only technology to measure the positions of moving persons, animals or other objects up to one thousand times per second and to track and display such movements in real time on a monitor. This offers a whole range of new possibilities in various fields of application, ranging from sports and industry to science. New dimensions open up for sports analyses, data processing, electronic media and infotainment. At the demonstration we are going to present all participants different applications.