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1 26 AR A study of the indoor navigation by the AR-markers

3 AR,.,., GPS., GPS,.,, ID,,, 4.,., AR, KAI(Knowledge-basd Augmented reality Indication system). KAI, 2. 1 AR, AR,. 2,..,, KAI, AR 71ms., AR,,,, i

4 .,,,, KAI.,,, KAI, AR ii

5 Abstract A study of the indoor navigation by the AR-markers Kai Kyogoku Recently, ubiquitous network which enables everyone to access the information from anywhere become ready to be utilized. In the ubiquitous network, new services using user s location information are expected to be provided. Location information in outdoor can be acquired with GPS. However, there is a problem that in indoor environments where GPS satellite waves does not reach well, and the position estimate accuracy decreases. Currently, location estimation methods can be classified into the four types which are Cell-ID method, Angle Of Arrival method, Received Signal Strength Indicator method, and Time Differences Of Arrival method. To solve the weakness of these methods, the preferable indoor navigation method is studded. Through the study the direction required for the new indoor navigation was realized. In this paper, KAI (Knowledge-based Augmented reality Indication system) is proposed. KAI is not necessarily require an indoor map, and KAI is enabled to reliable navigation by the shortest route specialized for indoor facilities. Two verification experiments were done to investigate a utility of KAI. The first experiment is the time length necessary to AR Viewer. The time necessary to AR viewer after the creation of a camera preview is measured, and the time necessary to scan multiple markers after the creation of a camera preview is measured. The 2nd experiment verified that the shortest route selected method is perfect by the simulation. From these iii

6 results, the needed number of marker patterns was estimated. In addition, the evaluation study of requirements is concluded as follows. KAI could select the shortest route anywhere and takes the processing time of 71ms average to AR viewer after the creation of a camera preview. Moreover, the user is easy to use the AR system for a location estimation, a map management and a navigation. From the above results, KAI is proved to satisfy the indoor navigation requirements, which come from the accuracy, the fast calculating and the usefulness. The proposed scheme is revealed to be appropriate for the indoor navigation method. key words navigation, indoor use, ubiquitous network, KAI, AR-marker iv

7 ID TOA(Time Of Arrival) TDOA(Time Difference Of Arrival) TOA-UMI(Time Of Arrival Unuse Mutual Inphase) Augmented Reality AR AR KAI KAI v

8 3.2 KAI AR AR vi

9 A 45 vii

11 1.1 PHS BWA ID AOA TOA TDOA TOA-UMI KAI AR AR ix

13 2.1 AR AR google Nexus AR AR xi

15 1 1.1,,. PHS BWA [1], PHS, 1 6, ,.,,. 1.1 PHS BWA 1

16 1 1.2 GPS,., GPS., GPS 4.,, 4,. [2]. GPS , m GPS, 1m, cm. 1.3 GPS, GPS.,, GPS.,., 4,.,,,,.,. 1.4, ID,,, 4., 4, 2

17 ID ID,,. ID ID,,,.,,.,.,., 3

18 1 RFID 20cm [3], (AOA Angle Of Arrival),,,. AOA AOA AOA A B. 2,.,,,.,.,, 4

19 1.4 AOA (RSSI Received Signal Strength Indication),.,,.,,.,, ,., [m/s],,.,,., 30cm., TOA(Time Of Arrival) TOA,,. TOA 1.4. A, B, C A, B, C, T T, r 1, r 2, r 3 A, B, C T., 3 3, 5

20 1 1.4 TOA A(x a, y a, z a ), B(x b, y b, z b ), C(x c, y c, z c )., T T (x, y, z). T., T D = ct (1.1) D = [m] c = ( )[sec] t = [sec], 1.2, 1.3, 1.4. r 1 = (x x a ) 2 + (y y a ) 2 + (z z a ) 2 (1.2) r 2 = (x x b ) 2 + (y y b ) 2 + (z z b ) 2 (1.3) r 3 = (x x c ) 2 + (y y c ) 2 + (z z c ) 2 (1.4) 6

21 1.4, A(x a, y a, z a ), B(x b, y b, z b ), C(x c, y c, z c ), r 1, r 2, r 3 T (x, y, z), 1.2, 1.3, TDOA(Time Difference Of Arrival) TDOA,., 2. TDOA 1.5 [8]. 1.5 TDOA 3, , 7

22 1. 3 4, TDOA 3 [4]. TOA-UMI(Time Of Arrival Unuse Mutual Inphase) TOA-UMI, r 1, r 2, r 3,, 3. [5]TOA-UMI TOA-UMI 8

23 1.4 A, B, C, T. TOA-UMI,,. A,B C, A,C B, B,C A,,, T.,,, A B. (x x 1 ) 2 + (y y 1 ) 2 = r 2 1 (x x 2 ) 2 + (y y 2 ) 2 = r 2 2 (x 1 x 2 )x + (y 1 y 2 )y (x 1 x 2 ) 2 + (y 1 y 2 ) 2 + r 2 1 r = 0, (x 1 x 2 ) 2 +(y 1 y 2 ) 2 +r 2 1 r2 2 2 = a, (x 1 x 2 )x + (y 1 y 2 )y a = 0 2.,,. 2 (1.5), (1.6). x = a(x 1 x 2 ) ± (y 1 y 2 ) ((x 1 x 2 ) + (y 1 y 2 ))r 2 1 a2 (x x 2 ) 2 + (y y 2 ) 2 (1.5) y = a(y 1 y 2 ) (x 1 x 2 ) ((x 1 x 2 ) + (y 1 y 2 ))r 2 1 a2 (x x 2 ) 2 + (y y 2 ) 2 (1.6), a, r1,r2,r3 a,,, T, a,, T. 9

24 1, TOA, TDOA TOA-UMI., TDOA TOA-UMI ,, , ,. 5 4, 1.6(m/s)[6]., 1.25m[7]., m., m[7].,, 0.625m. 3.,, ,. 10

25 1.4 1.,. 2.,,. 3., ,., 4, 3., 4,. 1. ID 1.25m, 1.25m. 2.,.,. 3.,,,.,, 11

26 1.,. 4., 30cm., 1.25m., ID., ID 1.25m,., 1.,, Augmented Reality

27 2, Augmented Reality. 2.1 Augmented Reality Augmented Reality AR,.,, AR.,, AR., AR. AR, AR AR 2., AR AR GPS,. 13

28 2., ,. GPS, GPS. 2.3 AR., AR., AR. AR AR 2.1. AR, AR. AR,., AR,. 14

29 2.3 AR 2.1 AR AR AR AR 15

31 3 KAI 3.1 KAI, AR KAI(Knowledge-based Augmented reality Indication system). 3.2 KAI KAI KAI 17

32 3 KAI. AR..,,.....,.,,. KAI, ,. AR 3.2., 18

33 3.3 ナビゲーション手順たマーカ上に次のマーカがある方向に向かって矢印を投影する. これを繰り返していき, 目的地のマーカの位置で目的地の到着を表示する指標パターンを表示し利用者の選択目的地までナビゲートを行う. 目的地の到着を表示する指標パターンを図 3.3 に示す. 図 3.2 AR マーカによるナビゲーション矢印図 3.3 目的地の到着を表示する指標パターン 19

34 3 KAI 3.4 AR KAI 3.2.,.,, 1..,. 3.5 KAI. 3 (JR ) 416,565m 2 ( ) 238,000m 2 ( ) 212,158m 2, JR,., KAI 416,565m 2.,,,

35 [8]. 3.4.,.,., : 2 : 1.,, 3 : 14 : 3.,, AR.,. AR, 1 1., , ,.,, AR., 2, 0 1., 0.,, 1 21

36 3 KAI ,.,, KAI 2,., h c, h, d, e, f, c, 22

37 , , , ,050, , ,785, ,749,955,297,

38 3 KAI m 1, 0., 24

39 ,,. 2.,,.,..,.,..,,.,,. 25

41 4,,. 4.1 KAI, 2. 1, AR. 2,,., AR. 4.2 AR AR., cm 20cm, 1 : 2 : NyARToolKit for Android 27

42 4 4.1 OS RAM google Nexus7 Android KitKat 7 IPS WUXGA 1.5GHx 2GB 16GB 500. google Nexus7 4.1.,., , AR , AR. PC AR, NyARToolkit startpreview, PreviewCallback. NyARToolkit,,. 28

43 4.2 AR.,, AR , 2 AR., KAI 1, 1.,.,

44 4 4.2 AR 4.2. AR30 110ms, 30ms. 71ms. 2 AR 4.3. AR30 131ms, 30ms. 83.2ms., 2 AR 12.2ms., , ms. 36 1,., 30

45 4.3., 1., 32 32, 64 64,. NyARToolKit KAI., AR , A 1, m 2, m 2.., java. 4.4.,. 31

46 4 4.2 AR AR (ms)

47 AR AR (ms)

48 第4章図 4.4 対象施設の構造及びマーカ設置箇所 34 検証実験

49 , 2., A 1, , A 1, m 2., ,565m 2., 1, ,801m 2,. A 1, 2 95, , , 257 AR. 4.5 AR 71ms., 780ms., KAI, 2., 0.625m,.,,, AR, KAI. 35

51 5 5.1,,., KAI(Knowledge-based Augmented reality Indication system). KAI AR,. KAI, 2. 1 AR, AR,. 2,..,, KAI, AR 71ms., AR,,,,.,,,, KAI. 37

5 5.2,. 22 25 5.1. 25 36,. 1,, AR.,. [9], AR,,.

52 5 5.2, ,. 1,, AR.,. [9], AR,,., , AR ,

53 5.3 今後の検討課題証の検証ができなかった原因は端末のリソース不足によると考える. よって, 使用する ARToolkit の仕様を KAI に特化した仕様に作り変える必要がある. また, マーカの分割数を増やす場合には読取精度が落ちることが懸念される. そのため, マーカを認識し AR が投影されるまでの所要時間に加え, 読取誤差についても考慮し, 必要マーカ数に応じた分割数及びマーカの組み合わせを示すことが今後の検討課題である. また, AR マーカのデザインについては, 今回図 3.2 と図 3.3 を用いた. AR マーカを用いているため, AR マーカの複数表示, 3D 表示, アニメーション等が可能である. 今回用いた AR マーカのデザインに変わり得る例を図 5.2 に示す. 次のマーカ方向を指差す AR マーカ, 次のマーカ方向に向かって歩いていく AR マーカ等を複数用意することで, 利用者の気分に応じて選択可能なナビゲーション方式として実現させることが可能となる. 以上を今後の検討課題とする. 図 5.2 AR マーカのデザインに変わり得る例 39

55 ,,.,.,. 1 1.,.,, TA,,,.,,.,.,,, 1,,.,.. 2,,,.,,,,,.,... 41

57 [1],, s-news/01kiban04_ html(2015/1/22 ) [2], JAXA, qzss/(2015/1/24 ) [3] RFID,, 24, p.23. [4] Three-dimensional Hyperbolic Positioning System, Hindawi, ) [5],,, 24, p.11. [6], 112, 5 4 [7],, 10, p.153. [8] AR,, 22 p.13. [9] AR,,, 26 p.176. [10] 2009,,, 26 p

59 A A 1, 2. Java. class Node { private char label; private int totalcost; private Node from; public Node(char label, Node from) { this.label = label; this.from = from; } public Node(char label) { this(label, null); } public char getlabel() { return label; } public Node getfrom() { return from; } public int gettotalcost() { return totalcost; } public void setfrom(node from) { this.from = from; } public void settotalcost(int totalcost) { this.totalcost = totalcost; } } class Route { private Node srcnode, dstnode; private int cost; 45

60 A public Route(Node srcnode, Node dstnode, int cost) { this.srcnode = srcnode; this.dstnode = dstnode; this.cost = cost; } public Node getsrcnode() { return srcnode; } public Node getdstnode() { return dstnode; } public int getcost() { return cost; } } public class ARnavi { public static void main(string argv[]) { String naviroot = ""; Node start = new Node( X ); //. start. Node a = new Node( a ); Node b = new Node( b ); Node c = new Node( c ); Node d = new Node( d ); Node e = new Node( e ); Node f = new Node( f ); Node g = new Node( g ); Node h = new Node( h ); Node i = new Node( i ); Node j = new Node( j ); Node k = new Node( k ); Node l = new Node( l, start); Node m = new Node( m ); Node n = new Node( n ); 46

61 Node o = new Node( o ); Node p = new Node( p ); Node q = new Node( q ); Node r = new Node( r ); Node s = new Node( s ); Node t = new Node( t ); Node u = new Node( u ); Node w = new Node( w ); Node x = new Node( x ); Node y = new Node( y ); Node z = new Node( z ); Node A = new Node( A ); Node B = new Node( B ); Node C = new Node( C ); Node D = new Node( D ); Node E = new Node( E ); Node F = new Node( F ); Node G = new Node( G ); Node H = new Node( H ); Node I = new Node( I ); Node J = new Node( J ); Node K = new Node( K ); Node L = new Node( L ); Node M = new Node( M ); Node N = new Node( N ); Node O = new Node( O ); Node P = new Node( P ); Node Q = new Node( Q ); Node R = new Node( R ); Node S = new Node( S ); Node T = new Node( T ); 47

62 A Node U = new Node( U ); Node W = new Node( W ); Node X = new Node( X ); Node Y = new Node( Y ); Node Z = new Node( Z ); 48

63 Route[] routes = { // A 1F.. new Route(a, b, 10), new Route(a, c, 10), new Route(a,, 5), new Route(b, a, 10), new Route(b, c, 5), new Route(b, d, 6), new Route(b, e, 8), new Route(c, a, 10), new Route(c, b, 5), new Route(c, e, 6), new Route(c,, 13), new Route(d, b, 6), new Route(d, c, 8), new Route(d, e, 5), new Route(d, f, 5), new Route(d, g, 10), new Route(e, b, 8), new Route(e, c, 6), new Route(e, d, 5), new Route(e, f, 6), new Route(e, g, 7), new Route(f, d, 5), new Route(f, e, 6), new Route(f, g, 8), 49

64 A new Route(f, h, 9), new Route(f, k, 14), new Route(g, e, 7), new Route(g, f, 8), new Route(g, k, 10), new Route(g, l, 13), new Route(g, n, 14), new Route(h, f, 9), new Route(h, k, 7), new Route(h, j, 6), new Route(i, j, 8), new Route(j, i, 8), new Route(j, h, 6), new Route(j, k, 5), new Route(j, m, 6), new Route(j,, 12), new Route(k, j, 5), new Route(k, h, 7), new Route(k, f, 14), new Route(k, g, 10), new Route(k, l, 15), new Route(k, n, 8), new Route(k, o, 15), new Route(k, m, 8), new Route(k,, 1), new Route(l, k, 15), new Route(l, g, 13), new Route(l, n, 13), new Route(m, j, 6), new Route(m, k, 8), new Route(m, n, 10), new Route(m, o, 7), new Route(n, m, 10), new Route(n, k, 8), new Route(n, g, 14), new Route(n, l, 13), new Route(n, p, 7), new Route(n, o, 10), new Route(o, m, 7), new Route(o, n, 10), new Route(o, p, 6), new Route(o, r, 9), new Route(o, q, 8), new Route(o, k, 15), new Route(p, o, 6), new Route(p, n, 7), new Route(p, r, 6), new Route(q, o, 8), new Route(q, r, 5), new Route(q, s, 6), new Route(r, q, 5), new Route(r, p, 6), new Route(r, t, 6), new Route(s, q, 5), new Route(s, t, 6), new Route(s, u, 5), new Route(t, s, 6), new Route(t, r, 6), new Route(t, x, 11), new Route(u, s, 5), new Route(u, t, 6), new Route(u, w, 7), new Route(w, u, 7), new Route(w, x, 7), new Route(w, y, 6), new Route(w, A, 7), new Route(x, w, 7), new Route(x, t, 11), new Route(x, y, 7), new Route(y, w, 6), new Route(y, x, 7), new Route(y, z, 10), new Route(y, B, 4), new Route(y,, 22), new Route(z, y, 10), new Route(A, w, 7), new Route(A, B, 8), new Route(A, C, 7), new Route(B, A, 8), new Route(B, y, 4), new Route(B, D, 8), new Route(C, A, 7), new Route(C, D, 5), new Route(C, E, 7), new Route(D, C, 5), new Route(D, B, 8), new Route(D, F, 7), new Route(E, C, 7), new Route(E, F, 5), new Route(E, G, 8), new Route(F, E, 5), new Route(F, D, 7), new Route(F, H, 7), new Route(G, E, 7), new Route(G, H, 5), new Route(G, I, 9), 50

65 new Route(H, G, 5), new Route(H, F, 7), new Route(H, J, 8), new Route(I, G, 9), new Route(I, M, 7), new Route(I, L, 6), new Route(J, H, 7), new Route(J, N, 13), new Route(J, M, 10), new Route(J, P, 14), new Route(K, L, 8), new Route(L, K, 8), new Route(L, I, 6), new Route(L, M, 5), new Route(L, O, 6), new Route(L,, 12), new Route(M, L, 5), new Route(M, I, 7), new Route(M, N, 15), new Route(M, P, 9), new Route(M, O, 8), new Route(M,, 1), new Route(N, M, 15), new Route(N, J, 13), new Route(N, P, 13), new Route(O, L, 6), new Route(O, M, 8), new Route(O, P, 10), new Route(O, Q, 5), new Route(P, O, 10), new Route(P, M, 9), new Route(P, J, 14), new Route(P, N, 13), new Route(P, R, 7), new Route(Q, O, 5), new Route(Q, P, 8), new Route(Q, R, 6), new Route(Q, S, 6), new Route(R, Q, 6), new Route(R, P, 7), new Route(R, S, 6), new Route(R,, 9), new Route(, a, 5), new Route(, c, 13), new Route(, T, 12), new Route(, R, 9), new Route(, S, 12), new Route(,, 12), // A 2F new Route(S, Q, 6), new Route(S, R, 6), new Route(S,, 12), new Route(T,, 12), new Route(T, W, 7), new Route(W, T, 7), new Route(W, Y, 8), new Route(X, U, 7), new Route(X, Z, 4), new Route(Y, W, 8), new Route(Y,, 7), new Route(Z, X, 4), new Route(Z,, 9), new Route(Z,, 4), new Route(, Y, 7), new Route(, Z, 9), new Route(,, 14), new Route(, Z, 4), new Route(,, 3), new Route(,, 5), new Route(,, 3), new Route(,, 6), new Route(,, 3), new Route(, j, 12), new Route(,, 5), new Route(,, 6), new Route(,, 5), new Route(, k, 1), new Route(,, 3), new Route(,, 5), new Route(,, 5), new Route(,, 14), new Route(,, 7), new Route(,, 5), new Route(,, 8), new Route(,, 7), new Route(,, 7), new Route(,, 8), new Route(,, 10), new Route(,, 7), new Route(,, 10), new Route(,, 7), 51

66 A new Route(,, 7), new Route(,, 7), new Route(,, 8), new Route(,, 7), new Route(,, 6), new Route(,, 8), new Route(,, 10), new Route(,, 6), new Route(,, 9), new Route(,, 8), new Route(,, 8), new Route(,, 10), new Route(,, 15), new Route(,, 7), new Route(,, 15), new Route(,, 9), new Route(,, 7), new Route(, y, 22), new Route(,, 7), new Route(,, 11), new Route(,, 7), new Route(,, 8), new Route(,, 11), new Route(,, 9), new Route(,, 7), new Route(,, 9), new Route(,, 8), new Route(,, 10), new Route(,, 7), new Route(,, 7), new Route(,, 10), new Route(,, 7), new Route(,, 7), new Route(,, 7), new Route(,, 7), new Route(,, 6), new Route(,, 7), new Route(,, 5), new Route(,, 8), new Route(,, 8), new Route(,, 6), new Route(,, 14), new Route(,, 5), new Route(,, 3), new Route(,, 4), new Route(,, 3), new Route(,, 5), new Route(,, 3), new Route(, L, 12), new Route(,, 5), new Route(,, 6), new Route(,, 5), new Route(, M, 1), new Route(,, 3), new Route(,, 5), new Route(,, 8), new Route(,, 8), new Route(,, 14), new Route(,, 7), new Route(,, 7), new Route(,, 6), new Route(,, 6), new Route(,, 12), }; while (true) { boolean cont = false; for (Route route : routes) { Node src = route.getsrcnode(); Node dst = route.getdstnode(); if (src.getfrom() == null) continue; if (dst.getfrom() == null 52

67 src.gettotalcost() + route.getcost() < dst.gettotalcost()) { dst.setfrom(src); dst.settotalcost(src.gettotalcost() + route.getcost()); cont = true; } } if (!cont) break; } System.out.println(" " +.gettotalcost() + "m ");// Node node = ;//. while (node!= start) { naviroot = node.getlabel() +naviroot; node = node.getfrom(); } System.out.print("[ " + naviroot + " ] AR "); } } 53

, (GPS: Global Positioning Systemg),.,, (LBS: Local Based Services).. GPS,.,. RFID LAN,.,.,.,,,.,..,.,.,,, i

25 Estimation scheme of indoor positioning using difference of times which chirp signals arrive 114348 214 3 6 , (GPS: Global Positioning Systemg),.,, (LBS: Local Based Services).. GPS,.,. RFID LAN,.,.,.,,,.,..,.,.,,,