Introduction to PDR developlent and PDR Challenge in Warehouse Picking was presented in ISO IEC/JTC 1/SC 24 meetings (2017/8/8).

1. PDR Challenge in
Warehouse Picking
Takeshi Kurata (AIST, Japan)
PDR Benchmark Standardization Committee
ISO IEC/JTC 1/SC 24/WG 9 meeting (2017/8/8)

2. So many kinds of positioning methods
2

3. PDR（Pedestrian Dead-Reckoning）
Estimates velocity vector, relative altitude, and action
type by measurements from a wearable sensor module.
 Wearing a sensor module on waist (2D SHS (Steps and Heading Systems) PDR)
 Easy to wear and maintain
 Easy to measure data for action recognition
 Relatively easily apply for handheld setting compared to shoe-mounted PDR
(3D-INS (Inertial Navigation System) PDR)
3
Handheld PDR From PDR to PDRplus
10-axis sensors
• Accelerometers
• Magnetic sensors
• Gyro sensors
• Barometer
Shoe-mounted PDR
Waist-worn PDR

4. ISMAR2003 Image registration + PDR
PLANS2010 PDRplus (PDR + Action recognition)
PLANS2014 Handheld PDR (Walking Direction Estimation)
2015- 2015-
PDR Module
ICAT2006 PDR + GPS + RFID
G-spatial EXPO2010 PDR demo on iPhone 4
ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR
IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF
2011-
Docomo map navi (As of Aug, 2017, 540
areas including subways and underground
shopping arcades in Japan)
2014-
PDR Benchmark
Standardization Committee
Established in 2014 (Chair: T. Kurata, 33 organizations
in Japan as of April, 2016)
Overview: History of PDR in AIST
AIST Start-up
AcademiaIndustry
PDR: Pedestrian Dead Reckoning
SDF: Sensor Data Fusion (Hybrid Positioning)
RFID: Radio Frequency Identifier
GPS: Global Positioning System

5. AR by PDR + Image registration (1999-2003)
Panorama-based Annotation:
IWAR1999, ISWC2001,
ISMAR2003
G
Environmental map
A
B C D
E
A
B
C
F
Input frames
Position at which
a panorama is taken
Position
Direction
235 [deg]
5 [deg]
From the user’s
camera
Located Orientated
5

6. ISMAR2003 Image registration + PDR
PLANS2010 PDRplus (PDR + Action recognition)
PLANS2014 Handheld PDR (Walking Direction Estimation)
2015- 2015-
PDR Module
ICAT2006 PDR + GPS + RFID
G-spatial EXPO2010 PDR demo on iPhone 4
ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR
IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF
2011-
Docomo map navi (As of Aug, 2017, 540
areas including subways and underground
shopping arcades in Japan)
2014-
PDR Benchmark
Standardization Committee
Established in 2014 (Chair: T. Kurata, 33 organizations
in Japan as of April, 2016)
Overview: History of PDR in AIST
AIST Start-up
AcademiaIndustry
PDR: Pedestrian Dead Reckoning
SDF: Sensor Data Fusion (Hybrid Positioning)
RFID: Radio Frequency Identifier
GPS: Global Positioning System

7. In the year of 2010
• iPhone 4: the first popular consumer mobile device equipped with
9-axis sensors including accelerometers, magnetic sensors, and
gyro sensors
7
G-spatial EXPO 2010:
Handheld PDR on iPhone 4
(Worldʼs first-ever live demo)
PLANS2010, PLANS2014

8. ISMAR2003 Image registration + PDR
PLANS2010 PDRplus (PDR + Action recognition)
PLANS2014 Handheld PDR (Walking Direction Estimation)
2015- 2015-
PDR Module
ICAT2006 PDR + GPS + RFID
G-spatial EXPO2010 PDR demo on iPhone 4
ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR
IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF
2011-
Docomo map navi (As of Aug, 2017, 540
areas including subways and underground
shopping arcades in Japan)
2014-
PDR Benchmark
Standardization Committee
Established in 2014 (Chair: T. Kurata, 33 organizations
in Japan as of April, 2016)
Overview: History of PDR in AIST
AIST Start-up
AcademiaIndustry
PDR: Pedestrian Dead Reckoning
SDF: Sensor Data Fusion (Hybrid Positioning)
RFID: Radio Frequency Identifier
GPS: Global Positioning System

9. Frontier of PDR:
Walking direction estimation
9
• Tutorial: Personal Navigation with Handheld Devices by Valerie Renaudin, IPIN 2015.

10. Frontier of PDR:
Walking direction estimation
10
• Tutorial: Personal Navigation with Handheld Devices by Valerie Renaudin, IPIN 2015.
• Long Paper: Christophe Combettes, Valerie Renaudin, Comparison of Misalignment
Estimation Techniques Between Handheld Device and Walking Directions, IPIN 2015.
• FIS was proposed by Kourogi and Kurata in PLANS 2014.
“Globally, the FIS method provides better results than
the other two methods.” by IFSTTAR
Frequency analysis of Inertial Signals
Forward and Lateral Acc. Modeling
Principal Component Analysis

11. ISMAR2003 Image registration + PDR
PLANS2010 PDRplus (PDR + Action recognition)
PLANS2014 Handheld PDR (Walking Direction Estimation)
2015- 2015-
PDR Module
ICAT2006 PDR + GPS + RFID
G-spatial EXPO2010 PDR demo on iPhone 4
ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR
IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF
2011-
Docomo map navi (As of Aug, 2017, 540
areas including subways and underground
shopping arcades in Japan)
2014-
PDR Benchmark
Standardization Committee
Established in 2014 (Chair: T. Kurata, 33 organizations
in Japan as of April, 2016)
Overview: History of PDR in AIST
AIST Start-up
AcademiaIndustry
PDR: Pedestrian Dead Reckoning
SDF: Sensor Data Fusion (Hybrid Positioning)
RFID: Radio Frequency Identifier
GPS: Global Positioning System

12. ISMAR2003 Image registration + PDR
PLANS2010 PDRplus (PDR + Action recognition)
PLANS2014 Handheld PDR (Walking Direction Estimation)
2015- 2015-
PDR Module
ICAT2006 PDR + GPS + RFID
G-spatial EXPO2010 PDR demo on iPhone 4
ICServ2013 Best Paper: Computer-Supported QC Circle (CSQCC) with PDR
IPIN2015, 2016 10-axes PDR, Time-series sub-optimization in SDF
2011-
Docomo map navi (As of Sep, 2016, 480
areas including subways and underground
shopping arcades in Japan)
2014-
PDR Benchmark
Standardization Committee
Established in 2014 (Chair: T. Kurata, 33 organizations
in Japan as of April, 2016)
Overview: History of PDR in AIST
AIST Start-up
AcademiaIndustry
PDR: Pedestrian Dead Reckoning
SDF: Sensor Data Fusion (Hybrid Positioning)
RFID: Radio Frequency Identifier
GPS: Global Positioning System

13. Standardization on PDR Benchmarking
• PDR related R&D is highly active worldwide: Necessity for sharing
common measures.
• Description of the performance should be unified in spec sheets and
scientific papers.
• Different measures from absolute positioning methods such as GNSS,
Wi-Fi, and BLE are required for PDR, which is a method of relative
positioning.
• PDR Benchmark Standardization Committee was established in 2014 as
a platform of the grassroots activity.
14
https://www.facebook.com/pdr.bms

14. Support Organizations
• Asahi Kasei Corporation, Asia Air Survey Co., Ltd. (Y. Minami), INTEC Inc.,
MTI Ltd., KDDI R&D Laboratories, Inc., KOKUSAI KOGYO CO., LTD.,
SHIBUYA KOGYO CO., LTD., Koozyt, Inc., GOV Co., Ltd., SITESENSING,
inc., Sharp Corporation, Sugihara Software and Electron Industry Co., Ltd.
(SSEI), ZENRIN DataCom CO., LTD., Information Services International-
Dentsu, Ltd. (ISID), TOYO KANETSU K.K., IBM Japan, Ltd., Hitachi, Ltd.,
Frameworx, Inc. (S. Watanabe), MULTISOUP CO.,LTD., Milldea, LLC,
Murata Manufacturing Co., Ltd., MegaChips Corporation, Recruit Lifestyle
Co., Ltd. (K. Ushida), RICOH COMPANY, LTD., Rei-Frontier Inc.,
• Aichi Institute of Technology (K. Kaji), NARA Institute of Science and
Technology (NAIST) (I. Arai), Kanagawa Institute of Technology (H.
Tanaka), Keio University (S. Haruyama, N. Kohtake, M. Nakajima), Kyushu
University (A. Shimada, H. Uchiyama), University of Tsukuba (T. Kurata),
Tokyo Institute of Technology (S. Okada), Nagoya University (N.
Kawaguchi), Niigata University (H. Makino), Ritsumeikan University (N.
Nishio), National Institute of Advanced Industrial Science and Technology
(AIST) (T. Kurata, M. Kourogi), Human Activity Sensing Consortium
(HASC), Location Information Service Research Agency (LISRA)
• 38 organizations in Japan as of August, 2017
15

16. Scene in data collection
17

17. Multi-Algorithm On-Site Evaluation System
• Evaluates the accuracy of each PDR algorithm automatically as often as
sensor data is uploaded to the server
• Provides trajectory images so that participants can compare their PDR
• algorithms in real time.
18
http://pdrsv.hasc.jp
K. Kaji, K. Kanagu, K. Murao, N. Nishio, K. Urano, H. Iida, N. Kawaguch, Multi-Algorithm On-Site Evaluation
System for PDR Challenge, ICMU2016.

18. UbiComp/ISWC 2015 PDR Challenge Corpus
• Is now open to the public. (http://hub.hasc.jp/)
19
Routes 5
Devices 7
Subjects 93
# of pedestrian sensing data 241
# of pedestrian sensing data with
calibration data
230
# of pedestrian sensing data with
LIDAR data
10
Avg. of walking time [sec] 101
Avg. of moving distance [m] 115
Avg. of angular change [°] 606
K. Kaji, M. Abe, W. Wang, K. Hiroi, and N. Kawaguchi, UbiComp/ISWC 2015 PDR challenge corpus, HASCA2016
(UbiComp2016 Proceedings: Adjunct), pp.696-704
Statistics of the corpus
Detailed route statistics of pedestrian
sensing data with calibration data

19. PDR Challenge Series
• Ubicomp/ISWC 2015 PDR Challenge
– Scenario: Indoor Navigation
– On-site/Off-site
– Continuous walking while keeping watching the navigation
screen by holding the smartphone
– Several minutes per trial
– Number of trial data: around 230
• 2017 PDR Challenge in Warehouse Picking (IPIN 2017)
– Scenario: Picking work in a warehouse
– Off-site
– Not only walking but various actions including picking and
carrying
– Three hours per trial
– Number of trail data: 8
20

20. 21

21. 22

22. Benchmarking Framework
23
R. Ichikari, C.-T. Chang, M. Kourogi, T. Okuma, and T. Kurata, Practical Evaluation Framework for PDR Compared to
Reference Localization Methods, IPIN 2017 (to appear)

23. Competitions: IPIN and the others
(cf. EvAAL presentation in IPIN 2105 etc.)
24
year IPIN EvAAL, IPSN, UbiComp/ISWC
2011 Guimaraes, Portugal EvAAL: indoor localization
2012 Sidney, Australia EvAAL: + activity recognition
2013 Montbeliard, France EvAAL: same as 2012
2014
Busan, Korea
EvAAL: 3 floors, smartphone
IPSN: infrastruc. based + free
2015
Banff, Canada
EvAAL-ETRI comp.: 6 floors, on/off-
site
IPSN: infrastruc. based + free
UbiComp/ISWC: 2 floors, smartphone PDR, 90
subjects
2016
Madrid, Spain
Indoor Localization Competition:
smartphone (on/off-site), PDR, Robot
IPSN: infrastruc. based + free, 2D/3D
2017
Sapporo, Japan
Indoor Localization Competition:
smartphone (on/off-site), PDR,
Warehouse

24. NWIP
• Submit the NWIP after preparing the WD
(CD candidate)
• The structure of the Draft should be similar
to ISO/IEC NP 18520 (Benchmarking of
vision-based spatial registration and
tracking methods for MAR)
– Benchmarking process + benchmark indicator +
dataset for benchmarking
25