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PDR developlent and PDR Challenge in Warehouse Picking

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Introduction to PDR developlent and PDR Challenge in Warehouse Picking was presented in ISO IEC/JTC 1/SC 24 meetings (2017/8/8).

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PDR developlent and PDR Challenge in Warehouse Picking

  1. 1. PDR Challenge in Warehouse Picking Takeshi Kurata (AIST, Japan) PDR Benchmark Standardization Committee ISO IEC/JTC 1/SC 24/WG 9 meeting (2017/8/8)
  2. 2. So many kinds of positioning methods 2
  3. 3. PDR(Pedestrian Dead-Reckoning) Estimates velocity vector, relative altitude, and action type by measurements from a wearable sensor module.  Wearing a sensor module on waist (2D SHS (Steps and Heading Systems) PDR)  Easy to wear and maintain  Easy to measure data for action recognition  Relatively easily apply for handheld setting compared to shoe-mounted PDR (3D-INS (Inertial Navigation System) PDR) 3 Handheld PDR From PDR to PDRplus 10-axis sensors • Accelerometers • Magnetic sensors • Gyro sensors • Barometer Shoe-mounted PDR Waist-worn PDR
  4. 4. ISMAR2003 Image registration + PDR PLANS2010 PDRplus (PDR + Action recognition) PLANS2014 Handheld PDR (Walking Direction Estimation) 2015- 2015- PDR Module ICAT2006 PDR + GPS + RFID G-spatial EXPO2010 PDR demo on iPhone 4 ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF 2011- Docomo map navi (As of Aug, 2017, 540 areas including subways and underground shopping arcades in Japan) 2014- PDR Benchmark Standardization Committee Established in 2014 (Chair: T. Kurata, 33 organizations in Japan as of April, 2016) Overview: History of PDR in AIST AIST Start-up AcademiaIndustry PDR: Pedestrian Dead Reckoning SDF: Sensor Data Fusion (Hybrid Positioning) RFID: Radio Frequency Identifier GPS: Global Positioning System
  5. 5. AR by PDR + Image registration (1999-2003) Panorama-based Annotation: IWAR1999, ISWC2001, ISMAR2003 G Environmental map A B C D E A B C F Input frames Position at which a panorama is taken Position Direction 235 [deg] 5 [deg] From the user’s camera Located Orientated 5
  6. 6. ISMAR2003 Image registration + PDR PLANS2010 PDRplus (PDR + Action recognition) PLANS2014 Handheld PDR (Walking Direction Estimation) 2015- 2015- PDR Module ICAT2006 PDR + GPS + RFID G-spatial EXPO2010 PDR demo on iPhone 4 ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF 2011- Docomo map navi (As of Aug, 2017, 540 areas including subways and underground shopping arcades in Japan) 2014- PDR Benchmark Standardization Committee Established in 2014 (Chair: T. Kurata, 33 organizations in Japan as of April, 2016) Overview: History of PDR in AIST AIST Start-up AcademiaIndustry PDR: Pedestrian Dead Reckoning SDF: Sensor Data Fusion (Hybrid Positioning) RFID: Radio Frequency Identifier GPS: Global Positioning System
  7. 7. In the year of 2010 • iPhone 4: the first popular consumer mobile device equipped with 9-axis sensors including accelerometers, magnetic sensors, and gyro sensors 7 G-spatial EXPO 2010: Handheld PDR on iPhone 4 (Worldʼs first-ever live demo) PLANS2010, PLANS2014
  8. 8. ISMAR2003 Image registration + PDR PLANS2010 PDRplus (PDR + Action recognition) PLANS2014 Handheld PDR (Walking Direction Estimation) 2015- 2015- PDR Module ICAT2006 PDR + GPS + RFID G-spatial EXPO2010 PDR demo on iPhone 4 ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF 2011- Docomo map navi (As of Aug, 2017, 540 areas including subways and underground shopping arcades in Japan) 2014- PDR Benchmark Standardization Committee Established in 2014 (Chair: T. Kurata, 33 organizations in Japan as of April, 2016) Overview: History of PDR in AIST AIST Start-up AcademiaIndustry PDR: Pedestrian Dead Reckoning SDF: Sensor Data Fusion (Hybrid Positioning) RFID: Radio Frequency Identifier GPS: Global Positioning System
  9. 9. Frontier of PDR: Walking direction estimation 9 • Tutorial: Personal Navigation with Handheld Devices by Valerie Renaudin, IPIN 2015.
  10. 10. Frontier of PDR: Walking direction estimation 10 • Tutorial: Personal Navigation with Handheld Devices by Valerie Renaudin, IPIN 2015. • Long Paper: Christophe Combettes, Valerie Renaudin, Comparison of Misalignment Estimation Techniques Between Handheld Device and Walking Directions, IPIN 2015. • FIS was proposed by Kourogi and Kurata in PLANS 2014. “Globally, the FIS method provides better results than the other two methods.” by IFSTTAR Frequency analysis of Inertial Signals Forward and Lateral Acc. Modeling Principal Component Analysis
  11. 11. ISMAR2003 Image registration + PDR PLANS2010 PDRplus (PDR + Action recognition) PLANS2014 Handheld PDR (Walking Direction Estimation) 2015- 2015- PDR Module ICAT2006 PDR + GPS + RFID G-spatial EXPO2010 PDR demo on iPhone 4 ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF 2011- Docomo map navi (As of Aug, 2017, 540 areas including subways and underground shopping arcades in Japan) 2014- PDR Benchmark Standardization Committee Established in 2014 (Chair: T. Kurata, 33 organizations in Japan as of April, 2016) Overview: History of PDR in AIST AIST Start-up AcademiaIndustry PDR: Pedestrian Dead Reckoning SDF: Sensor Data Fusion (Hybrid Positioning) RFID: Radio Frequency Identifier GPS: Global Positioning System
  12. 12. ISMAR2003 Image registration + PDR PLANS2010 PDRplus (PDR + Action recognition) PLANS2014 Handheld PDR (Walking Direction Estimation) 2015- 2015- PDR Module ICAT2006 PDR + GPS + RFID G-spatial EXPO2010 PDR demo on iPhone 4 ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF 2011- Docomo map navi (As of Sep, 2016, 480 areas including subways and underground shopping arcades in Japan) 2014- PDR Benchmark Standardization Committee Established in 2014 (Chair: T. Kurata, 33 organizations in Japan as of April, 2016) Overview: History of PDR in AIST AIST Start-up AcademiaIndustry PDR: Pedestrian Dead Reckoning SDF: Sensor Data Fusion (Hybrid Positioning) RFID: Radio Frequency Identifier GPS: Global Positioning System
  13. 13. Standardization on PDR Benchmarking • PDR related R&D is highly active worldwide: Necessity for sharing common measures. • Description of the performance should be unified in spec sheets and scientific papers. • Different measures from absolute positioning methods such as GNSS, Wi-Fi, and BLE are required for PDR, which is a method of relative positioning. • PDR Benchmark Standardization Committee was established in 2014 as a platform of the grassroots activity. 14 https://www.facebook.com/pdr.bms
  14. 14. Support Organizations • Asahi Kasei Corporation, Asia Air Survey Co., Ltd. (Y. Minami), INTEC Inc., MTI Ltd., KDDI R&D Laboratories, Inc., KOKUSAI KOGYO CO., LTD., SHIBUYA KOGYO CO., LTD., Koozyt, Inc., GOV Co., Ltd., SITESENSING, inc., Sharp Corporation, Sugihara Software and Electron Industry Co., Ltd. (SSEI), ZENRIN DataCom CO., LTD., Information Services International- Dentsu, Ltd. (ISID), TOYO KANETSU K.K., IBM Japan, Ltd., Hitachi, Ltd., Frameworx, Inc. (S. Watanabe), MULTISOUP CO.,LTD., Milldea, LLC, Murata Manufacturing Co., Ltd., MegaChips Corporation, Recruit Lifestyle Co., Ltd. (K. Ushida), RICOH COMPANY, LTD., Rei-Frontier Inc., • Aichi Institute of Technology (K. Kaji), NARA Institute of Science and Technology (NAIST) (I. Arai), Kanagawa Institute of Technology (H. Tanaka), Keio University (S. Haruyama, N. Kohtake, M. Nakajima), Kyushu University (A. Shimada, H. Uchiyama), University of Tsukuba (T. Kurata), Tokyo Institute of Technology (S. Okada), Nagoya University (N. Kawaguchi), Niigata University (H. Makino), Ritsumeikan University (N. Nishio), National Institute of Advanced Industrial Science and Technology (AIST) (T. Kurata, M. Kourogi), Human Activity Sensing Consortium (HASC), Location Information Service Research Agency (LISRA) • 38 organizations in Japan as of August, 2017 15
  15. 15. Scene in data collection 17
  16. 16. Multi-Algorithm On-Site Evaluation System • Evaluates the accuracy of each PDR algorithm automatically as often as sensor data is uploaded to the server • Provides trajectory images so that participants can compare their PDR • algorithms in real time. 18 http://pdrsv.hasc.jp K. Kaji, K. Kanagu, K. Murao, N. Nishio, K. Urano, H. Iida, N. Kawaguch, Multi-Algorithm On-Site Evaluation System for PDR Challenge, ICMU2016.
  17. 17. UbiComp/ISWC 2015 PDR Challenge Corpus • Is now open to the public. (http://hub.hasc.jp/) 19 Routes 5 Devices 7 Subjects 93 # of pedestrian sensing data 241 # of pedestrian sensing data with calibration data 230 # of pedestrian sensing data with LIDAR data 10 Avg. of walking time [sec] 101 Avg. of moving distance [m] 115 Avg. of angular change [°] 606 K. Kaji, M. Abe, W. Wang, K. Hiroi, and N. Kawaguchi, UbiComp/ISWC 2015 PDR challenge corpus, HASCA2016 (UbiComp2016 Proceedings: Adjunct), pp.696-704 Statistics of the corpus Detailed route statistics of pedestrian sensing data with calibration data
  18. 18. PDR Challenge Series • Ubicomp/ISWC 2015 PDR Challenge – Scenario: Indoor Navigation – On-site/Off-site – Continuous walking while keeping watching the navigation screen by holding the smartphone – Several minutes per trial – Number of trial data: around 230 • 2017 PDR Challenge in Warehouse Picking (IPIN 2017) – Scenario: Picking work in a warehouse – Off-site – Not only walking but various actions including picking and carrying – Three hours per trial – Number of trail data: 8 20
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  21. 21. Benchmarking Framework 23 R. Ichikari, C.-T. Chang, M. Kourogi, T. Okuma, and T. Kurata, Practical Evaluation Framework for PDR Compared to Reference Localization Methods, IPIN 2017 (to appear)
  22. 22. Competitions: IPIN and the others (cf. EvAAL presentation in IPIN 2105 etc.) 24 year IPIN EvAAL, IPSN, UbiComp/ISWC 2011 Guimaraes, Portugal EvAAL: indoor localization 2012 Sidney, Australia EvAAL: + activity recognition 2013 Montbeliard, France EvAAL: same as 2012 2014 Busan, Korea EvAAL: 3 floors, smartphone IPSN: infrastruc. based + free 2015 Banff, Canada EvAAL-ETRI comp.: 6 floors, on/off- site IPSN: infrastruc. based + free UbiComp/ISWC: 2 floors, smartphone PDR, 90 subjects 2016 Madrid, Spain Indoor Localization Competition: smartphone (on/off-site), PDR, Robot IPSN: infrastruc. based + free, 2D/3D 2017 Sapporo, Japan Indoor Localization Competition: smartphone (on/off-site), PDR, Warehouse
  23. 23. NWIP • Submit the NWIP after preparing the WD (CD candidate) • The structure of the Draft should be similar to ISO/IEC NP 18520 (Benchmarking of vision-based spatial registration and tracking methods for MAR) – Benchmarking process + benchmark indicator + dataset for benchmarking 25

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