The document discusses the standardization efforts for pedestrian dead reckoning (PDR) benchmarking led by the PDR Benchmark Standardization Committee. It highlights the importance of unified performance measures for PDR, which relies on relative positioning, and mentions various stakeholders involved in the initiative. Additionally, it outlines several activities, competitions, and examples of collaboration among organizations and research institutions in Japan focused on advancing PDR technology.

1. Grassroots activity for
standardization on PDR
(Pedestrian Dead Reckoning)
benchmarking
Takeshi Kurata (AIST, Japan)
PDR Benchmark Standardization Committee
ISO IEC/JTC 1/SC 24/WG 9 meeting (2016/8/22)

2. PDR（Pedestrian Dead-Reckoning）
Estimates velocity vector, relative altitude, and actions
by measurements from a waist-mounted sensor module.
 Wearing sensor module on waist
 Easy to wear and maintain
 Easy to measure data for action recognition
 Relatively easily apply for handheld setting compared to shoe-
mounted PDR based on Zero Velocity Updates (ZUPTs)
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Handheld PDR
10-axis sensors
• Accelerometers
• Magnetic sensors
• Gyro sensors
• Barometer
Waist-mounted PDR

3. 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
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G-spatial EXPO 2010:
Handheld PDR (Pedestrian
Dead Reckoning) on iPhone 4
(Maybe world’s first-ever live
demo)

4. Lab-forming Field & Field-forming Lab
• Borrowing from “Terraforming”
• Lab-forming Field: Transforming a real field into a lab-like place.
• Field-forming Lab: Transforming a laboratory into a field-like place.
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• IoT
• Real world modeling
• AI
• Big data analysis
• Wearable
• AR
• VR
Geospatial IoT
(G‐IoT), PDR
Lab-forming Field
Field-forming Lab

5. 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.
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https://www.facebook.com/pdr.bms

6. 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., SITESENSING, inc., Sharp
Corporation, Sugihara Software and Electron Industry Co., Ltd. (SSEI),
Information Services International-Dentsu, Ltd. (ISID), 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), Akashi National College of
Technology (I. Arai), Kanagawa Institute of Technology (H. Tanaka), Keio
University (S. Haruyama, N. Kohtake, M. Nakajima), 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)
• 33 organizations in Japan as of April, 2016
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7. Activity Examples in Japan
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1st meeting of the committee
(2014/05/22)
1st seminar in LBJ (2014/06/11)
2nd meeting of the committee
(2015/05/19)
2nd seminar in LBJ (2015/06/13)
Organized session in HCG
symposium (2014/12/17)
3rd seminar in LBJ (2016/06/10) LBJ: Location Business Japan
HCG: Human Communication Group
Organized session in HCG
symposium (2015/12/16)
3rd meeting of the committee
(2015/05/19)

8. Competitions: IPIN and the others
(cf. EvAAL presentation in IPIN 2105 etc.)
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IPIN year EvAAL, IPSN, UbiComp/ISWC
Zurich, Switzerland 2010 universAAL is launched
Guimaraes, Portugal 2011 EvAAL: indoor localization
Sidney, Australia 2012 EvAAL: + activity recognition
Montbeliard, France 2013 EvAAL: same as 2012
Busan, Korea
1st IPIN competition
2014
EvAAL: 3 floors, smartphone
IPSN: infrastruc. based + free
Banff, Canada
EvAAL-ETRI comp.
2015
EvAAL-ETRI: 6 floors, on/off-site
IPSN: infrastruc. based + free
UbiComp/ISWC: 2 floors, smartphone PDR,
90 subjects
Madrid, Spain
Indoor Localization
Competition
2016
IPIN: smartphone (on/off-site), PDR, Robot
IPSN: infrastruc. based + free, 2D/3D

9. 9

11. Open Data Contest in Logistics &
PDR Challenge in Warehouse
• Open data contest in logistics
by Frameworx
– Submission: 2016/4/18-2016/7/18
– Award ceremony: 2016/9/12
• PDR Challenge in Warehouse
– Now planning
– Will be held as a Japanese
domestic contest in 2016
– Will be held as an international
contest in IPIN 2017
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12. Examples of picking workers’
trajectories estimated by PDR + WMS
(Warehouse Management System)
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13. PDR Challenge in Warehouse
• Ubicomp/ISWC 2015 PDR Challenge
– Scenario: Indoor Navigation
– On-site
– Continuous walking while keeping watching the
navigation screen by holding the smartphone
– Several minutes per trial
• 2016 PDR Challenge in Warehouse (tentative)
– Scenario: Picking work in a warehouse
– Off-site
– Not only walking but various actions including picking
and carrying
– Several hours per trial
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14. IPIN2017
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15. 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 Geometric Registration and
Tracking Methods for MAR)
– Benchmarking process + benchmark indicator +
dataset for benchmarking
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