Grassroots activity for standardization on PDR

(Pedestrian Dead Reckoning) benchmarking

Takeshi Kurata (AIST, Japan)

PDR Benchmark Standardization Committee

ISO IEC/JTC 1/SC 24/WG 9 meeting (2016/8/22)

PDR（Pedestrian Dead-Reckoning）Estimates velocity vector, relative altitude, and actionsby measurements from a waist-mounted sensor module.

Wearing sensor module on waist Easy to wear and maintain Easy to measure data for action recognition Relatively easily apply for handheld setting compared to shoe-

mounted PDR based on Zero Velocity Updates (ZUPTs)

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Handheld PDR

10-axis sensors• Accelerometers• Magnetic sensors• Gyro sensors• Barometer

Waist-mounted PDR

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

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G-spatial EXPO 2010:Handheld PDR (Pedestrian Dead Reckoning) on iPhone 4(Maybe world’s first-ever live demo)

Lab-forming Field & Field-forming Lab• Borrowing from “Terraforming”• Lab-forming Field: Transforming a real field into a lab-like place. • Field-forming Lab: Transforming a laboratory into a field-like place.

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• IoT

• Real world modeling• AI• Big data analysis

• Wearable• AR

• VR

Geospatial IoT (G‐IoT), PDR

Lab-forming Field

Field-forming Lab

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.

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https://www.facebook.com/pdr.bms

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., SITESENSING, inc., Sharp Corporation, Sugihara Software and Electron Industry Co., Ltd. (SSEI), Information Services International-Dentsu, Ltd. (ISID), 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), Akashi National College of Technology (I. Arai), Kanagawa Institute of Technology (H. Tanaka), Keio University (S. Haruyama, N. Kohtake, M. Nakajima), 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)

• 33 organizations in Japan as of April, 2016

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Activity Examples in Japan7

1st meeting of the committee (2014/05/22)

1st seminar in LBJ (2014/06/11)

2nd meeting of the committee (2015/05/19)

2nd seminar in LBJ (2015/06/13)

Organized session in HCG symposium (2014/12/17)

3rd seminar in LBJ (2016/06/10) LBJ: Location Business JapanHCG: Human Communication Group

Organized session in HCG symposium (2015/12/16)

3rd meeting of the committee (2015/05/19)

Competitions: IPIN and the others(cf. EvAAL presentation in IPIN 2105 etc.)

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IPIN year EvAAL, IPSN, UbiComp/ISWC

Zurich, Switzerland 2010 universAAL is launchedGuimaraes, Portugal 2011 EvAAL: indoor localization

Sidney, Australia 2012 EvAAL: + activity recognitionMontbeliard, France 2013 EvAAL: same as 2012

Busan, Korea1st IPIN competition 2014 EvAAL: 3 floors, smartphone

IPSN: infrastruc. based + free

Banff, CanadaEvAAL-ETRI comp. 2015

EvAAL-ETRI: 6 floors, on/off-siteIPSN: infrastruc. based + free

UbiComp/ISWC: 2 floors, smartphone PDR, 90 subjects

Madrid, SpainIndoor Localization

Competition2016 IPIN: smartphone (on/off-site), PDR, Robot

IPSN: infrastruc. based + free, 2D/3D

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Open Data Contest in Logistics &PDR Challenge in Warehouse

• Open data contest in logistics by Frameworx– Submission: 2016/4/18-2016/7/18– Award ceremony: 2016/9/12

• PDR Challenge in Warehouse– Now planning– Will be held as a Japanese

domestic contest in 2016– Will be held as an international

contest in IPIN 2017

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Examples of picking workers’ trajectories estimated by PDR + WMS

(Warehouse Management System)

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PDR Challenge in Warehouse• Ubicomp/ISWC 2015 PDR Challenge

– Scenario: Indoor Navigation– On-site– Continuous walking while keeping watching the

navigation screen by holding the smartphone– Several minutes per trial

• 2016 PDR Challenge in Warehouse (tentative)– Scenario: Picking work in a warehouse– Off-site– Not only walking but various actions including picking

and carrying– Several hours per trial

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IPIN201714

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 Geometric Registration andTracking Methods for MAR)– Benchmarking process + benchmark indicator +

dataset for benchmarking

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