This paper describes and evaluates the use of Generative Adversarial Networks (GANs) for path planning in support of smart mobility applications such as indoor and outdoor navigation applications, individualized wayfinding for people with disabilities (e.g., vision impairments, physical disabilities, etc.), path planning for evacuations, robotic navigations, and path planning for autonomous vehicles. We propose an architecture based on GANs to recommend accurate and reliable paths for navigation applications. The proposed system can use crowd-sourced data to learn the trajectories and infer new ones. The system provides users with generated paths that help them navigate from their local environment to reach a desired location. As a use case, we experimented with the proposed method in support of a wayfinding application in an indoor environment. Our experiments assert that the generated paths are correct and reliable. The accuracy of the classification task for the generated paths is up to 99 and the quality of the generated paths has a mean opinion score of 89 .
Li @cite_25 proposed an indoor navigation system based on off-the-shelf smartphone sensors and magnetic features. They used several approaches to enhance the accuracy of the system including multi-dimensional dynamic time warping, weighted k-nearest neighbors, and exploiting magnetic gradient fingerprints. They also mitigated the impact of magnetic matching mismatches to reduce the position errors. They reported root mean square error between 4.3 m and 5.6 m.
@cite_25
2506376746
This paper presents an algorithm for navigating in challenging indoor environments that do not have WiFi. Dead-reckoning (DR) based on off-the-shelf smartphone sensors and magnetic matching (MM) based on indoor magnetic features are integrated. For DR, we utilize a two-filter algorithm structure and multi-level constraints to navigate under different human motion conditions. For MM, we use several approaches to enhance its performance. These approaches include multi-dimensional dynamic time warping, weighted k -nearest neighbor, and utilization of magnetic gradient fingerprints. Furthermore, realized that the key to enhance the DR MM performance is to mitigate the impact of MM mismatches, we introduced and evaluated two mismatch-detection approaches, including a threshold-based method that sets the measurement noises of MM positions based on their distances to the historical DR MM position solutions, and an adaptive Kalman filter-based method that introduces the estimation of the innovation sequence covariance into the calculation of the gain matrix instead of adjusting the measurement noises. The proposed mismatch-detection mechanism reduced the DR MM errors by 45.9 -67.9 in indoor tests with two smartphones, in two buildings, and under four motion conditions.