20.500.12556/RUL-135337 An automated indoor localization system for online Bluetooth signal strength modeling using visual-inertial SLAM Indoor localization is becoming increasingly important but is not yet widespread because installing the necessary infrastructure is often time-consuming and labor-intensive, which drives up the price. This paper presents an automated indoor localization system that combines all the necessary components to realize low-cost Bluetooth localization with the least data acquisition and network configuration overhead. The proposed system incorporates a sophisticated visual-inertial localization algorithm for a fully automated collection of Bluetooth signal strength data. A suitable collection of measurements can be quickly and easily performed, clearly defining which part of the space is not yet well covered by measurements. The obtained measurements, which can also be collected via the crowdsourcing approach, are used within a constrained nonlinear optimization algorithm. The latter is implemented on a smartphone and allows the online determination of the beacons’ locations and the construction of path loss models, which are validated in real-time using the particle swarm localization algorithm. The proposed system represents an advanced innovation as the application user can quickly find out when there are enough data collected for the expected radiolocation accuracy. In this way, radiolocation becomes much less time-consuming and labor-intensive as the configuration time is reduced by more than half. The experiment results show that the proposed system achieves a good trade-off in terms of network setup complexity and localization accuracy. The developed system for automated data acquisition and online modeling on a smartphone has proved to be very useful, as it can significantly simplify and speed up the installation of the Bluetooth network, especially in wide-area facilities. indoor localization visual-inertial SLAM constrained optimization path loss model particle swarm optimization Bluetooth low energy beacon lokalizacija v notranjem okolju vizualnoinercialni SLAM optimizacija z omejitvami model izgub na prenosni poti optimizacija z rojem delcev Bluetooth z nizko porabo energije svetilnik true false true Angleški jezik Slovenski jezik Članek v reviji 2022-03-08 11:05:05 2022-03-08 11:05:06 2022-09-14 04:12:51 0000-00-00 00:00:00 2021 0 0 21 str. iss. 8, art. 2857 Vol. 21 Apr. 2021 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:004 1424-8220 10.3390/s21082857 60483331 RAZ_Tomazic_Simon_2021.pdf RAZ_Tomazic_Simon_2021.pdf 1 AF910F111FC8A8965AA36FDAC8A90C8F cd74b27e53204df19051d6a14a7c210ba84eb71803b038038c8fc58e9da9b942 28552f18-9ec7-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=154355 https://www.mdpi.com/1424-8220/21/8/2857 1 f3535886-9ec6-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=154354 Fakulteta za elektrotehniko 0 0 0