Search

Indoor localization and navigation have become an increasingly important problem in both industry and academia with the widespread use of mobile smart devices and the development of network techniques. The Wi-Fi-based technology shows great potential for applications due to the ubiquitous Wi-Fi infrastructure in public indoor environments. Most existing approaches use trilateration or machine learning methods to predict locations from a set of annotated Wi-Fi observations. However, annotated data are not always readily available. In this paper, we propose a robot-aided data collection strategy to obtain the limited but high-quality labeled data and a large amount of unlabeled data. Furthermore, we design two deep learning models based on a variational autoencoder for the localization and navigation tasks, respectively. To make full use of the collected data, a hybrid learning approach is developed to train the models by combining supervised, unsupervised and semi-supervised learning strategies. Extensive experiments suggest that our approach enables the models to learn effective knowledge from unlabeled data with incremental improvements, and it can achieve promising localization and navigation performance in a complex indoor environment with obstacles. [ABSTRACT FROM AUTHOR]

The clustering ensemble method has attracted much attention because it can improve the stability and robustness of single clustering methods. Among them, similarity-matrix-based methods or graph-based methods have had a wide range of applications in recent years. Most similarity-matrix-based methods calculate fully connected pairwise similarities by treating a base cluster as a whole and ignoring the importance of the relevance ranking of samples within the same base cluster. Since unreliable similarity estimates degrade clustering performance, constructing accurate similarity matrices is of great importance in applications. Higher-order graph diffusion based on reliable similarity matrices can further uncover potential connections between data. In this paper, we propose a more substantial graph-learning-based ensemble algorithm for local-sample-weighted clustering, which implicitly optimizes the adaptive weights of different neighborhoods based on the ranking importance of different neighbors. By further diffusion on the consensus matrix, we obtained an optimal consistency matrix with more substantial discriminative power, revealing the potential similarity relationship between samples. The experimental results showed that, compared with the second-best DREC algorithm, the accuracy of the proposed algorithm improved by 17.7%, and that of the normalized mutual information (NMI) algorithm improved by 15.88%. All empirical results showed that our clustering model consistently outperformed the related clustering methods. [ABSTRACT FROM AUTHOR]