Modified Random Forest algorithm for Wi Fi Indoor...
Transcript of Modified Random Forest algorithm for Wi Fi Indoor...
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Modified Random Forest algorithm for Wi–FiIndoor Localization System
Rafal Gorak, Marcin Luckner
Faculty of Mathematics and Information SciencesWarsaw University of Technology
September 2016
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Indoor Positioning System (IPS)
Problem
Provide a localization of the terminal inside the building based on:
Received Signal Strength (RSS) from different radio sources such asWi–Fi Access Points, or Base Transiver Stations of a cellularnetwork.
Sensor readings such as magnetometer, accelerometer or pressuresensor.
We present the solution that is based only on existing Wi-Fiinfrastructure inside the building of Faculty of Mathematics andInformation Science of Warsaw University of Technology.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 3: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/3.jpg)
Indoor Positioning System (IPS)
Problem
Provide a localization of the terminal inside the building based on:
Received Signal Strength (RSS) from different radio sources such asWi–Fi Access Points, or Base Transiver Stations of a cellularnetwork.
Sensor readings such as magnetometer, accelerometer or pressuresensor.
We present the solution that is based only on existing Wi-Fiinfrastructure inside the building of Faculty of Mathematics andInformation Science of Warsaw University of Technology.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 4: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/4.jpg)
Indoor Positioning System (IPS)
Problem
Provide a localization of the terminal inside the building based on:
Received Signal Strength (RSS) from different radio sources such asWi–Fi Access Points, or Base Transiver Stations of a cellularnetwork.
Sensor readings such as magnetometer, accelerometer or pressuresensor.
We present the solution that is based only on existing Wi-Fiinfrastructure inside the building of Faculty of Mathematics andInformation Science of Warsaw University of Technology.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 5: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/5.jpg)
Indoor Positioning System (IPS)
Problem
Provide a localization of the terminal inside the building based on:
Received Signal Strength (RSS) from different radio sources such asWi–Fi Access Points, or Base Transiver Stations of a cellularnetwork.
Sensor readings such as magnetometer, accelerometer or pressuresensor.
We present the solution that is based only on existing Wi-Fiinfrastructure inside the building of Faculty of Mathematics andInformation Science of Warsaw University of Technology.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 6: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/6.jpg)
Indoor Positioning System (IPS)
Problem
Provide a localization of the terminal inside the building based on:
Received Signal Strength (RSS) from different radio sources such asWi–Fi Access Points, or Base Transiver Stations of a cellularnetwork.
Sensor readings such as magnetometer, accelerometer or pressuresensor.
We present the solution that is based only on existing Wi-Fiinfrastructure inside the building of Faculty of Mathematics andInformation Science of Warsaw University of Technology.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 7: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/7.jpg)
The building
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The building
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The concept of fingerprinting
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The concept of fingerprinting
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The concept of fingerprinting
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The concept of fingerprinting
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The concept of fingerprinting
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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The concept of fingerprinting
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Data sets
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Data sets
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Building a localization model using Random Forest method
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Building a localization model using Random Forest method
Lx : Rn 7→ R
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Building a localization model using Random Forest method
Lx : Rn 7→ R
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 20: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/20.jpg)
Building a localization model using Random Forest method
Using a Random Forest method we grow regresion trees in order to
create Lx and Ly and for Lf the classification trees are grown.
LRF : Rn 7→ R2 × {0, 1, 2, ..., 5}
where
LRF (v) = (Lx(v), Ly(v), Lf(v))
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Building a localization model using Random Forest method
Using a Random Forest method we grow regresion trees in order to
create Lx and Ly and for Lf the classification trees are grown.
LRF : Rn 7→ R2 × {0, 1, 2, ..., 5}
where
LRF (v) = (Lx(v), Ly(v), Lf(v))
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 22: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/22.jpg)
Building a localization model using Random Forest method
Using a Random Forest method we grow regresion trees in order to
create Lx and Ly and for Lf the classification trees are grown.
LRF : Rn 7→ R2 × {0, 1, 2, ..., 5}
where
LRF (v) = (Lx(v), Ly(v), Lf(v))
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 23: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/23.jpg)
Modification of the Random Forest approach
The idea is to create for every Access Point
a the localization model
La = (Lax, La
y, Laf).
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Modification of the Random Forest approach
The idea is to create for every Access Point
a the localization model
La = (Lax, La
y, Laf).
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 25: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/25.jpg)
How to built Lax?
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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How to built Lax?
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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How to built Lax?
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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How to built Lax?
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Modification of the Random Forest approach
Hence, we have a localization model
La = (Lax, La
y, Laf)
for every Access Point a from the academicnet inside the building.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Modification of the Random Forest approach
Figure: Access Points a1,...,a4 and the position where the measurement v ∈ Rn
was taken
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Modification of the Random Forest approach
LmRF (v) = (x, y, f) where
x = (La1x (v) + La2
x (v) + La3x (v))/3
y = (La1y (v) + La2
y (v) + La3x (v))/3,
f = mode{La1f (v), La2
f (v), La3f (v)}.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Modification of the Random Forest approach
LmRF (v) = (x, y, f) where
x = (La1x (v) + La2
x (v) + La3x (v))/3
y = (La1y (v) + La2
y (v) + La3x (v))/3,
f = mode{La1f (v), La2
f (v), La3f (v)}.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Modification of the Random Forest approach
LmRF (v) = (x, y, f) where
x = (La1x (v) + La2
x (v) + La3x (v))/3
y = (La1y (v) + La2
y (v) + La3x (v))/3,
f = mode{La1f (v), La2
f (v), La3f (v)}.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Testing a localization model
L = LRF
orL = LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Testing a localization model
L = LRF
orL = LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 36: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/36.jpg)
Testing a localization model
L = LRF
orL = LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Testing a localization model
L = LRF
orL = LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 38: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/38.jpg)
Testing a localization model
Horizontal error =√
(x− x)2 + (y − y)2
Horizontal error =√
(13− 14.52)2 + (15− 18.34)2
Floor is correctly predicted.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Testing a localization model
Horizontal error =√
(x− x)2 + (y − y)2
Horizontal error =√
(13− 14.52)2 + (15− 18.34)2
Floor is correctly predicted.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Testing a localization model
Horizontal error =√
(x− x)2 + (y − y)2
Horizontal error =√
(13− 14.52)2 + (15− 18.34)2
Floor is correctly predicted.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 41: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/41.jpg)
Testing a localization model
Horizontal error =√
(x− x)2 + (y − y)2
Horizontal error =√
(13− 14.52)2 + (15− 18.34)2
Floor is correctly predicted.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 42: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/42.jpg)
Results
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Results
HME − Horizontal Mean Error
FE − Floor Error - the rate of incorrectly predicted floors
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 44: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/44.jpg)
Results
HME − Horizontal Mean Error
FE − Floor Error - the rate of incorrectly predicted floors
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 45: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/45.jpg)
Results
HME − Horizontal Mean Error
FE − Floor Error - the rate of incorrectly predicted floors
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 46: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/46.jpg)
Results
i FE HME1 0.0094 1.322 0.0284 3.663 0.0264 3.554 0.0849 4.365 0.0769 4.53
i FE HME1 0.0087 0.572 0.0291 3.343 0.0222 3.294 0.0822 4.115 0.0711 4.30
LRF LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
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Results after 3 APs are turned off
i FE HME1 0.0094 1.322 0.0565 4.803 0.0581 4.364 0.1101 4.885 0.1089 5.09
i FE HME1 0.0087 0.572 0.0487 3.803 0.0436 3.744 0.1002 4.345 0.0933 4.58
LRF LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 48: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/48.jpg)
Results after 3 APs are turned off
i FE HME1 0.0094 1.322 0.0565 4.803 0.0581 4.364 0.1101 4.885 0.1089 5.09
i FE HME1 0.0087 0.572 0.0487 3.803 0.0436 3.744 0.1002 4.345 0.0933 4.58
LRF LmRF
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 49: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/49.jpg)
Comparison
Karwowski, J., Okulewicz, M., Legierski, J.:Application of particle swarm optimization algorithm toneural network training process in the localization ofthe mobile terminal.
Enginering Applications of Neural Networks14th International Conference,2013 Proceedings,Part I. Comunications in Computer and Information Science, vol 383, pp.122-131 Springer (2013)
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 50: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/50.jpg)
Comparison
Karwowski, J., Okulewicz, M., Legierski, J.:Application of particle swarm optimization algorithm toneural network training process in the localization ofthe mobile terminal.
Enginering Applications of Neural Networks14th International Conference,2013 Proceedings,Part I. Comunications in Computer and Information Science, vol 383, pp.122-131 Springer (2013)
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System
![Page 51: Modified Random Forest algorithm for Wi Fi Indoor ...obb.mini.pw.edu.pl/wp-content/uploads/2016/09/talk_Grecja.pdf · Rafal Gorak, Marcin Luckner Modi ed Random Forest algorithm for](https://reader034.fdocuments.net/reader034/viewer/2022042321/5f0bc3307e708231d4321791/html5/thumbnails/51.jpg)
Acknowledgement
The research is supported by the National Centre for Research andDevelopment, grant No PBS2/B3/24/2014, application No 208921.
Rafal Gorak, Marcin Luckner Modified Random Forest algorithm for Wi–Fi Indoor Localization System