The document provides an overview of indoor positioning technologies and xDR (PDR & VDR) history at AIST. It includes: 1. A map of indoor positioning technologies categorized by capabilities like infrastructure requirements, mobile/stationary nodes, and ability to provide relative position. 2. A timeline of AIST's research in PDR and extending it to VDR, including world first achievements and applications in navigation, benchmarking, and challenges. 3. References on xDR/PDR/VDR research at AIST covering applications in augmented reality, navigation, mapping, service engineering, and more.

1. Indoor Positioning Tech Map
and
xDR (PDR&VDR) History in AIST
Takeshi Kurata
AIST, JAPAN
SEI, JAPAN
Univ of Tsukuba, JAPAN

2. AoA: Angle of Arrival, AR: Augmented Reality, DR: Dead Reckoning, IMES: Indoor MEssaging System (Indoor GPS), IMU: Inertial
Measurement Unit, INS: Inertial Navigation System, iPNT: indoor Position, Navigation, Timing, LIDAR: LIght Detection And
Ranging, LRF: Laser Rangefinder, PDR: Pedestrian DR, RADAR: Radio Detection And Ranging, RGB-D: RGB & Depth, RSSI:
Received Signal Strength Indicator, RTT: Round Trip Time (two-way ToA), SHS: Steps and Heading System, SLAM:
Simultaneous Localization and Mapping, TDoA: Time Difference of Arrival, ToF: Time of Flight (ToA: Time of Arrival), UWB: Ultra
Wide Band, VDR: [Vibration-based] Vehicle DR, xDR: DR for something, vSLAM: visual SLAM, vSRT: vision-based Spatial
Registration and Tracking, ZUPT: Zero Velocity Update
Integratedpositioning
Wi-Fi, BLE, Active RFID (ZigBee)
Trilateration Fingerprinting Proximity AoA
(RSSI, TDoA, ToF)
Combo of
stationary
and mobile
nodes
Stationary
nodes
only
(Infrastructure)
Mobile
nodes
only
(Wearable)
IC tag (Proximity)
Ultrasound
UWB (TDoA & AoA)
Optical marker
AR marker
Surveillance camera (RGB, RGB-D)
LRF/LiDARNo ID
IMU-based motion capturing (Action recognition)
Millimeter-wave Radar
xDR: PDR
SHS INS (ZUPT)
xDR: VDR
Relative position and
posture available
IMES (iPNT)
Light communication
Intolerant of
occlusion
Magnetic fingerprinting Mobile camera (RGB, RGB-D)
vSLAM vSRTScene recognition
Indoor Positioning
Tech Map

3. ISMAR2003 Image registration + PDR (world’s first)
PLANS2010 PDRplus (PDR + Action recognition)
PLANS2014 Handheld PDR (Walking Direction Estimation)
(Best performance in French IFSTTAR’s comparative evaluation [IPIN2015])
2015-
2015-
Japan’s first PDR/VDR
embedded module
Academia
Industry
ICAT2006 PDR + GPS + RFID
G-spatial EXPO2010 PDR demo on iPhone 4 (world’s first)
ICServ2013 Best Paper: CSQCC with PDR
IPIN2015, 2016 10-axis PDR, Time-series sub-optimization in SDF
2011-
Docomo map navi
(As of Sep, 2018, 600
areas including subways
and underground shopping
arcades in Japan)
2014-
AIST Start-up
PDR Benchmark
Standardization Committee
Established in 2014
(42 organizations in Japan as of Sep, 2018)
To be embedded to smartphones,
wristbands, employee ID card etc.
Extending PDR to VDR [PLANS2018] (world’s first)G-spatial EXPO2016
2016 President Prize “Research”AIST
Organization of
PDR Challenge in Warehouse PickingIPIN2017
• Low energy
• PDR optimized
PDR: Pedestrian Dead Reckoning
VDR: Vibration-based/Vehicle
Dead Reckoning
SDF: Sensor Data Fusion
(Integrated Positioning)
RFID: Radio Frequency Identifier
GPS: Global Positioning System
CSQCC: Computer-Supported
Quality Control Circle
Organization of
xDR Challenge for Warehouse OperationsIPIN2018
xDR(PDR&VDR)
HistoryinAIST

4. References on xDR (PDR & VDR), indoor positioning,
and the applications (1/7)
• vSRT (Vision-based Spatial Registration and Tracking) based positioning
• Masakatsu Kourogi, Takeshi Kurata, Katsuhiko Sakaue, and Yoichi Muraoka:
“Improvement of Panorama-based Annotation Overlay Using Omnidirectional Vision
and Inertial Sensors“, In Proc. International Symposium on Wearable Computers
(ISWC 2000) in Atlanta, USA, pp.183-184 (2000)
• Masakatsu Kourogi, Takeshi Kurata, and Katsuhiko Sakaue: “A panorama-based
method of personal positioning and orientation and its real-time applications for
wearable computers“, In Proc. 5th International Symposium on Wearable Computers
(ISWC2001) in Zurich, Switzerland, pp.107-114 (2001)
• Waist-mounted PDR
• Masakatsu Kourogi and Takeshi Kurata: “Personal Positioning based on Walking
Locomotion Analysis with Self-Contained Sensors and a Wearable Camera“, In Proc.
The Second International Symposium on Mixed and Augmented Reality (ISMAR03) in
Tokyo, Japan, pp.103-112 (2003)
• Masakatsu Kourogi, Takeshi Kurata and Tomoya Ishikawa: “ A Method of Pedestrian
Dead Reckoning Using Action Recognition”, IEEE/ION PLANS 2010, pp.85-89 (2010)

5. References on xDR (PDR & VDR), indoor positioning,
and the applications (2/7)
• Handheld PDR
• Masakatsu Kourogi and Takeshi Kurata: “A method of pedestrian dead reckoning for
smartphones using frequency domain analysis on patterns of acceleration and
angular velocity“, Proceedings of IEEE/ION PLANS 2014, pp.164-168 (2014)
• 10-axis PDR
• Ryosuke Ichikari, Luis Carlos Manrique Ruiz, Masakatsu Kourogi, Tomoaki Kitagawa,
Sota Yoshii, Takeshi Kurata: “Indoor Floor-Level Detection by Collectively
Decomposing Factors of Atmospheric Pressure“, Proceedings of IPIN 2015, IEEE
(2015)
• PDR benchmarking and competition
• Takeshi Kurata, Ryosuke Ichikari, Ryo Shimomura, Katsuhiko Kaji, Takashi Okuma,
Masakatsu Kourogi: “Making Pier Data Broader and Deeper: PDR Challenge and
Virtual Mapping Party“, MobiCASE 2018 (9th EAI International Conference on Mobile
Computing, Applications and Services), pp.3-17 (2018)
• Ryosuke Ichikari, Ryo Shimomura, Masakatsu Kourogi, Takashi Okuma, Takeshi Kurata,
Review of PDR Challenge in Warehouse Picking and Advancing to xDR Challenge, In
Proc. IPIN 2018, 8 pages, 2018

6. References on xDR (PDR & VDR), indoor positioning,
and the applications (3/7)
• PDR and vSRT (Vision-based Spatial Registration and Tracking)
• Masakatsu Kourogi and Takeshi Kurata: “Personal Positioning based on Walking
Locomotion Analysis with Self-Contained Sensors and a Wearable Camera“, In Proc.
The Second International Symposium on Mixed and Augmented Reality (ISMAR03) in
Tokyo, Japan, pp.103-112 (2003)
• Masakatsu Kourogi and Takeshi Kurata: “A method of personal positioning based on
sensor data fusion of wearable camera and self-contained sensors“, In Proc. IEEE
Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI2003)
in Tokyo, Japan, pp.287-292 (2003)
• Integrated Indoor Positioning
• Tomoya Ishikawa, Masakatsu Kourogi, Takashi Okuma, Takeshi Kurata: “Economic and
Synergistic Pedestrian Loacalization System in Indoor Environments", SoCPaR2009
proceedings, pp.522-527 (2009)
• Tomoya Ishikawa, Masakatsu Kourogi and Takeshi Kurata: “Economic and Synergistic
Pedestrian Tracking System with Service Cooperation for Indoor Environments“.
International Journal of Organizational and Collective Intelligence, Vol.2, No.1 pp.1-20
(2011)

7. References on xDR (PDR & VDR), indoor positioning,
and the applications (4/7)
• Seamless positioning
• Masakatsu Kourogi, Nobuchika Sakata, Takashi Okuma, and Takeshi Kurata:
“Indoor/Outdoor Pedestrian Navigation with an Embedded GPS/RFID/Self-contained
Sensor System“, In Proc. 16th International Conference on Artificial Reality and
Telexistence (ICAT2006), pp.1310-1321 (2006)
• Application to MAR (Mixed and Augmented Reality) and Wearable HCI
• Takeshi Kurata, Takashi Okuma, Masakatsu Kourogi, Takekazu Kato, and Katsuhiko
Sakaue: “VizWear: Toward Human-Centered Interaction through Wearable Vision and
Visualization“, In Proc. The Second IEEE Pacific-Rim Conference on Multimedia
(PCM2001) in Beijing, China, pp.40-47 (2001)
• Takeshi Kurata, Masakatsu Kourogi, Tomoya Ishikawa, Jungwoo Hyun and Anjin Park:
“ Service Cooperation and Co-creative Intelligence Cycles Based on Mixed-Reality
Technology“, Proceedings on INDIN, pp.967-972 (2010)
• Koji Makita, Thomas Vincent, Soichi Ebisuno, Masakatsu Kourogi, Tomoya Ishikawa,
Takashi Okuma, Minoru Yoshida, Laurence Nigay and Takeshi Kurata: “Mixed Reality
Navigation on a Tablet Computer for Supporting Machine Maintenance in Wide-area
Indoor Environment”, Proceedings of ICServ2014, pp.41-47 (2014)

8. References on xDR (PDR & VDR), indoor positioning,
and the applications (5/7)
• Application to Navigation and Mapping for Visually-Impaired Pedestrians
• Takeshi Kurata, Masakatsu Kourogi, Tomoya Ishikawa, Yoshinari Kameda, Kyota Aoki,
and Jun Ishikawa: “Indoor-Outdoor Navigation System for Visually-Impaired
Pedestrians: Preliminary Evaluation of Position Measurement and Obstacle Display”.
Proceedings of ISWC2011 pp.123-124 (2011)
• Takeshi Kurata, Ryosuke Ichikari, Ryo Shimomura, Katsuhiko Kaji, Takashi Okuma,
Masakatsu Kourogi: “Making Pier Data Broader and Deeper: PDR Challenge and
Virtual Mapping Party“, MobiCASE 2018 (9th EAI International Conference on Mobile
Computing, Applications and Services), pp.3-17 (2018)
• Application to Servie Engineering
• Tomoya Ishikawa, Masakatsu Kourogi and Takeshi Kurata: “Supporting Maintenance
Services by Utilizing Worker‘s Behavior Sensing and Visualization Based on Mixed-
Reality Technology“, Proc. EcoDesign2011, pp.397-401 (2011)
• Ryuhei Tenmoku, Ryoko Ueoka, Koji Makita, Takeshi Shimmura, Masanori Takehara,
Satoshi Tamura, Satoru Hayamizu and Takeshi Kurata: “Service-Operation Estimation
in a Japanese Restaurant Using Multi-Sensor and POS Data“, Proceeding of APMS
2011 conference, Parallel 3-4: 1 (2011)

9. References on xDR (PDR & VDR), indoor positioning,
and the applications (6/7)
• Application to Servie Engineering
• Ryoko Ueoka, Takeshi Shimmura, Ryuhei Tenmoku, Takashi Okuma and Takeshi
Kurata: “Introduction of Computer Supported Quality Control Circle in Japanese
Cuisine Restaurant“, Proc. International Conference on Human Side of Service
Engineering (HSSE2012), pp.6632-6641 (2012)
• Tomohiro Fukuhara, Ryuhei Tenmoku, Takashi Okuma, Ryoko Ueoka, Masanori
Takehara and Takeshi Kurata: “Improving Service Processes based on Visualization of
Human-behavior and POS data: a Case Study in a Japanese Restaurant”, Proceedings
of the 1st international conference on Serviceology (ICServ 2013), Tokyo Waterfront,
Japan, pp.1-8 (2013)
• Tomohiro Fukuhara, Ryuhei Tenmoku,Ryoko Ueoka, Takashi Okuma and Takeshi
Kurata “Estimating skills of waiting staff of a restaurant based on behavior sensing
and POS data analysis: A case study in a Japanese cuisine restaurant”, Proceedings of
the 5th International Conference on Applied Human Factors and Ergonomics
(AHFE2014), pp.4287-4299 (2014)
• Takashi Okuma, Tomohiro Fukuhara, Ryosuke Ichikari, Ching-Tzun Chang, Manrique
Carlos, Takeshi Shinmura and Takeshi Kurata: “Role of Servicing Activity Visualization
in Quality Control Circle“, Proc. of ICServ2015, Society for Serviceology (2015)

10. References on xDR (PDR & VDR), indoor positioning,
and the applications (7/7)
• Application to Servie Engineering
• Tatsuro Myokan, Mitsutaka Matsumoto, Takashi Okuma, Ryosuke Ichikari, Karimu
Kato, Daichi Ota and Takeshi Kurata: “Pre-evaluation of Kaizen Plan Considering
Efficiency and Employee Satisfaction by Simulation Using Data Assimilation -Toward
Constructing Kaizen Support Framework-”, Proceedings of ICServ2016, pp.331-337
(2016)
• Takeshi Kurata, Ryosuke Ichikari, Ching-Tzun,Chang, Masakatsu Kourogi, Masaki Onishi
and Takashi Okuma: “Lab-Forming Fields and Field-Forming Labs“, Serviceology for
Services. ICServ 2017. Lecture Notes in Computer Science, Springer, Vol.10371,
pp.144-149 (2017)