Smartphone-Based Indoor Visual Navigation with Leader-Follower Mode

Abstract

Existing indoor navigation solutions usually require pre-deployed comprehensive location services with precise indoor maps and, more importantly, all rely on dedicatedly installed or existing infrastructure. In this article, we present Pair-Navi, an infrastructure-free indoor navigation system that circumvents all these requirements by reusing a previous traveler’s (i.e., leader) trace experience to navigate future users (i.e., followers) in a Peer-to-Peer mode. Our system leverages the advances of visual simultaneous localization and mapping ( SLAM ) on commercial smartphones. Visual SLAM systems, however, are vulnerable to environmental dynamics in the precision and robustness and involve intensive computation that prohibits real-time applications. To combat environmental changes, we propose to cull non-rigid contexts and keep only the static and rigid contents in use. To enable real-time navigation on mobiles, we decouple and reorganize the highly coupled SLAM modules for leaders and followers. We implement Pair-Navi on commodity smartphones and validate its performance in three diverse buildings and two standard datasets (TUM and KITTI). Our results show that Pair-Navi achieves an immediate navigation success rate of 98.6%, which maintains as 83.4% even after 2 weeks since the leaders’ traces were collected, outperforming the state-of-the-art solutions by >50%. Being truly infrastructure-free, Pair-Navi sheds lights on practical indoor navigations for mobile users.