This project provides modules for locating / navigating devices by means of inertial and magnetic sensor fusion.
Current progress: a camera based indoor localization was provided by Yu Hu: https://github.com/yh570/indoor_localization_with_CV
Two options for future implenmentation: when camera can't capture the object or QR code, using sensors instead; Kalman filter evaluate from camera based and sensor based
A step detector / counter is provided in pedometer.r2py, while heading and device orientation can be derived from the OrientationFilter class.
Inside the IndoorNavigator class, a user's steps are combined with their heading to yield their location as they walk around indoors.
Below is an example:
getsensor = dy_import_module("getsensor.r2py") dy_import_module_symbols("indoor_navigator.r2py")
getsensor.start_sensing(1, 1) nav = IndoorNavigator()
while True:
nav.navigate(getsensors())
log(nav.get_coordinates(), '\n'))
Collected Data: https://drive.google.com/drive/u/0/folders/0B6WOejI_hzK7aGl2U0RGYmFwLTA