A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
The active badge location system
ACM Transactions on Information Systems (TOIS)
The world through the computer: computer augmented interaction with real world environments
Proceedings of the 8th annual ACM symposium on User interface and software technology
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
CyberCode: designing augmented reality environments with visual tags
DARE '00 Proceedings of DARE 2000 on Designing augmented reality environments
Computer Vision: A Modern Approach
Computer Vision: A Modern Approach
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Vision-Based Camera Motion Recovery for Augmented Reality
CGI '04 Proceedings of the Computer Graphics International
A Multi-Camera 6-DOF Pose Tracker
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
3D SSD Tracking with Estimated 3D Planes
CRV '05 Proceedings of the 2nd Canadian conference on Computer and Robot Vision
A Multi-Camera Pose Tracker for Assisting the Visually Impaired
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Robust SSD tracking with incremental 3D structure estimation
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Interacting with dynamically defined information spaces using a handheld projector and a pen
UIST '06 Proceedings of the 19th annual ACM symposium on User interface software and technology
High-accuracy stereo depth maps using structured light
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Cluster tagging: robust fiducial tracking for smart environments
LoCA'06 Proceedings of the Second international conference on Location- and Context-Awareness
iCam: precise at-a-distance interaction in the physical environment
PERVASIVE'06 Proceedings of the 4th international conference on Pervasive Computing
Place lab: device positioning using radio beacons in the wild
PERVASIVE'05 Proceedings of the Third international conference on Pervasive Computing
A study of bluetooth propagation using accurate indoor location mapping
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
Accurate GSM indoor localization
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
PowerLine positioning: a practical sub-room-level indoor location system for domestic use
UbiComp'06 Proceedings of the 8th international conference on Ubiquitous Computing
CHI '08 Extended Abstracts on Human Factors in Computing Systems
MAX: Wide area human-centric search of the physical world
ACM Transactions on Sensor Networks (TOSN)
Information overlay for camera phones in indoor environments
LoCA'07 Proceedings of the 3rd international conference on Location-and context-awareness
Intelligent eye: location-based multimedia information for mobile phones
Proceedings of the 12th International Conference on Information Integration and Web-based Applications & Services
SideBySide: ad-hoc multi-user interaction with handheld projectors
Proceedings of the 24th annual ACM symposium on User interface software and technology
Using height sensors for biometric identification in multi-resident homes
Pervasive'10 Proceedings of the 8th international conference on Pervasive Computing
Lumitrack: low cost, high precision, high speed tracking with projected m-sequences
Proceedings of the 26th annual ACM symposium on User interface software and technology
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While commercial solutions for precise indoor positioning exist, they are costly and require installation of additional infrastructure, which limits opportunities for widespread adoption. Inspired by robotics techniques of Simultaneous Localization and Mapping (SLAM) and computer vision approaches using structured light patterns, we propose a self-contained solution to precise indoor positioning that requires no additional environmental infrastructure. Evaluation of our prototype, called TrackSense, indicates that such a system can deliver up to 4 cm accuracy with 3 cm precision in rooms up to five meters squared, as well as 2 degree accuracy and 1 degree precision on orientation. We explain the design and performance characteristics of our prototype and demonstrate a feasible miniaturization that supports applications that require a single device localizing itself in a space. We also discuss extensions to locate multiple devices and limitations of this approach.