Indoor environmental data collection, localization and fusion

This paper presented an implementation of indoor environmental data collection with the localization module. Since where the environmental data is collected can be known, the distribution of the environmental data in an indoor environment would be presented. The small and light weight sensors are employed here and equipped on a mobile platform such that the mobile platform can freely cruise in the indoor environment to gather data. A monocular webcam is utilized to do the visual simultaneous localization and mapping, however, it may be failed when the visual features are few. The localization by the wireless sensor networks is then fused with the visual localization to improve the localization accuracy. In addition, the embedded system is employed to grab the environmental data from several kinds of sensors and transmit the data to a remote sever.