Valerie Renaudin - Academia.edu (original) (raw)

Uploads

Papers by Valerie Renaudin

All over Europe, and worldwide, municipalities and public authorities are engaged in designing an... more All over Europe, and worldwide, municipalities and public authorities are engaged in designing and maintaining Sustainable Urban Mobility Plans with the aim to improve mobility and living conditions of their citizens. These actions are part of an overall reflection, which was initiated several years ago in Europe and accelerated by the last economic crisis, for addressing climate changes and societal challenges. It requires planning efficient and safe walking routes within complex traffic flows for encouraging active transport in an inclusive society. Considering large general public use, geolocated services that are accurate in all environments, including indoor, user-friendly and that respect privacy become certainly appealing to consumers. At the pedestrian level, walking is accessible to everybody at no cost, is 100% green and also good for the health in general. Developing positioning and navigation technologies that enhance the walking experience would constitute an additional...

Habilitation Thesis written for the Accreditation to Supervise Research: the highest French acade... more Habilitation Thesis written for the Accreditation to Supervise Research: the highest French academic qualification.

Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growt... more Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growth of Location Based Services (LBS) and the need to identify the location of emergency mobile phone calls in Europe (standard E112), the research on localization techniques is booming. This thesis focuses on indoor pedestrian navigation and investigates a localization solution based on micro-electromechanical systems (MEMS) and ultra-wideband waves (UWB).

2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2015

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2014

In this paper, we propose a frequency domain analysis for characterizing the walking gait in the ... more In this paper, we propose a frequency domain analysis for characterizing the walking gait in the context of indoor navigation, without assuming that the sensors are rigidly attached to the body. Firstly, frequency analysis is performed using Short Time Fourier Transform (STFT) since the statistical properties of the signal are changing over time but are assumed contant over a hort window. Globally STFT can extract step/stride frequency, but STFT is found non optimal for fast motion transitions. Wavelet Transform (WT) analysis is then introduced. Contrary to STFT, WT uses a size-adjustable window, which offers more advantages for human gait features extraction. When the time period of interest comprises a high frequency, the window is short, while when the local area comprises a low frequency, the window size is enlarged. This WT propriety is found to be critical our smartphone based gait analysis. Experimental assessment is performed with a smartphone Nokia Lumia 920 and a foot mounted MEMS grade inertial used as reference. These results are encouraging for designing a robust and adaptable real-time motion detection solution for smartphone in the context of indoor navigation.

Valérie Renaudin has an M.Sc. degree in surveying and geodetic engineering from the Ecole Supérie... more Valérie Renaudin has an M.Sc. degree in surveying and geodetic engineering from the Ecole Supérieure des Géomètres et Topographes in Le Mans, France. She is currently working toward the Ph.D. degree from EPFL in Switzerland. She was the technical director at Swissat Company specializing in centimetre-level real-time positioning based on a network of GNSS reference stations.

... page 1 of 7 GNSS Antenna-Human Body Interaction Jared B. Bancroft, Valérie Renaudin, Aiden Mo... more ... page 1 of 7 GNSS Antenna-Human Body Interaction Jared B. Bancroft, Valérie Renaudin, Aiden Morrison and Gérard Lachapelle Position, Location And Navigation (PLAN) Group Department of Geomatics Engineering Schulich School of Engineering University of Calgary ...

Existing indoor navigation solutions usually rely on pre-installed sensor networks, whereas emerg... more Existing indoor navigation solutions usually rely on pre-installed sensor networks, whereas emergency agents are interested in fully auto-deployable systems. In this paper, an almost self-deployable solution based on Radio-frequency identification tags and inertial Micro Electro Mechanical Sensors is presented. The benefits of the solution are evaluated and compared with the pure inertial positioning system. Figure 2 -Illustration of the agents deploying RIFD related to the Tag Database.

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2014

Microelectromechanical Systems (MEMS) technology is playing a key role in the design of the new g... more Microelectromechanical Systems (MEMS) technology is playing a key role in the design of the new generation of smartphones. Thanks to their reduced size, reduced power consumption, MEMS sensors can be embedded in above mobile devices for increasing their functionalities. However, MEMS cannot allow accurate autonomous location without external updates, e.g., from GPS signals, since their signals are degraded by various errors. When these sensors are fixed on the user's foot, the stance phases of the foot can easily be determined and periodic Zero velocity UPdaTes (ZUPTs) are performed to bound the position error. When the sensor is in the hand, the situation becomes much more complex. First of all, the hand motion can be decoupled from the general motion of the user. Second, the characteristics of the inertial signals can differ depending on the carrying modes. Therefore, algorithms for characterizing the gait cycle of a pedestrian using a handheld device have been developed. A classifier able to detect motion modes typical for mobile phone users has been designed and implemented. According to the detected motion mode, adaptive step detection algorithms are applied. Success of the step detection process is found to be higher than 97% in all motion modes.

Methods and systems for compensating for gyroscopic errors. A system uses magnetometers to detect... more Methods and systems for compensating for gyroscopic errors. A system uses magnetometers to detect and measure a magnetic field local to a personal navigation device. When the local magnetic field is quasi-static, the rate of change of the magnetic field is combined with the rotational rate of change of the device. This generates an estimated gyroscope error. The error can then be used to correct for time-varying inherent gyroscope errors.

Presentation of a concept for robust indoor navigation. The concept is based on three key element... more Presentation of a concept for robust indoor navigation. The concept is based on three key elements: - the use of an absolute geographical reference - the hybridisation of complementary technologies - specific motion models. This concept is illustrated by the means of two applications: the urban displacement of blind people and the indoor guidance of fire-fighters

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014, 2014

Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contai... more Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contained sensors. Nevertheless with noisy sensor signals and high hand dynamics, estimating accurate attitude angles remains a challenge for achieving long term positioning accuracy. A new attitude estimation algorithm based on a quaternion parameterization directly in the state vector and two opportunistic updates, i.e. magnetic angular rate update and acceleration gradient update, is proposed. The benefit of this method is assessed both at the theoretical level and at the experimental level. The error on the heading, estimated only with the PDR navigation algorithms, is found to less than 7° after 1 km of walk.

All over Europe, and worldwide, municipalities and public authorities are engaged in designing an... more All over Europe, and worldwide, municipalities and public authorities are engaged in designing and maintaining Sustainable Urban Mobility Plans with the aim to improve mobility and living conditions of their citizens. These actions are part of an overall reflection, which was initiated several years ago in Europe and accelerated by the last economic crisis, for addressing climate changes and societal challenges. It requires planning efficient and safe walking routes within complex traffic flows for encouraging active transport in an inclusive society. Considering large general public use, geolocated services that are accurate in all environments, including indoor, user-friendly and that respect privacy become certainly appealing to consumers. At the pedestrian level, walking is accessible to everybody at no cost, is 100% green and also good for the health in general. Developing positioning and navigation technologies that enhance the walking experience would constitute an additional...

Habilitation Thesis written for the Accreditation to Supervise Research: the highest French acade... more Habilitation Thesis written for the Accreditation to Supervise Research: the highest French academic qualification.

Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growt... more Facing the expansion of geolocation needs, illustrated by the GALILEO European project, the growth of Location Based Services (LBS) and the need to identify the location of emergency mobile phone calls in Europe (standard E112), the research on localization techniques is booming. This thesis focuses on indoor pedestrian navigation and investigates a localization solution based on micro-electromechanical systems (MEMS) and ultra-wideband waves (UWB).

2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2015

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2014

In this paper, we propose a frequency domain analysis for characterizing the walking gait in the ... more In this paper, we propose a frequency domain analysis for characterizing the walking gait in the context of indoor navigation, without assuming that the sensors are rigidly attached to the body. Firstly, frequency analysis is performed using Short Time Fourier Transform (STFT) since the statistical properties of the signal are changing over time but are assumed contant over a hort window. Globally STFT can extract step/stride frequency, but STFT is found non optimal for fast motion transitions. Wavelet Transform (WT) analysis is then introduced. Contrary to STFT, WT uses a size-adjustable window, which offers more advantages for human gait features extraction. When the time period of interest comprises a high frequency, the window is short, while when the local area comprises a low frequency, the window size is enlarged. This WT propriety is found to be critical our smartphone based gait analysis. Experimental assessment is performed with a smartphone Nokia Lumia 920 and a foot mounted MEMS grade inertial used as reference. These results are encouraging for designing a robust and adaptable real-time motion detection solution for smartphone in the context of indoor navigation.

Valérie Renaudin has an M.Sc. degree in surveying and geodetic engineering from the Ecole Supérie... more Valérie Renaudin has an M.Sc. degree in surveying and geodetic engineering from the Ecole Supérieure des Géomètres et Topographes in Le Mans, France. She is currently working toward the Ph.D. degree from EPFL in Switzerland. She was the technical director at Swissat Company specializing in centimetre-level real-time positioning based on a network of GNSS reference stations.

... page 1 of 7 GNSS Antenna-Human Body Interaction Jared B. Bancroft, Valérie Renaudin, Aiden Mo... more ... page 1 of 7 GNSS Antenna-Human Body Interaction Jared B. Bancroft, Valérie Renaudin, Aiden Morrison and Gérard Lachapelle Position, Location And Navigation (PLAN) Group Department of Geomatics Engineering Schulich School of Engineering University of Calgary ...

Existing indoor navigation solutions usually rely on pre-installed sensor networks, whereas emerg... more Existing indoor navigation solutions usually rely on pre-installed sensor networks, whereas emergency agents are interested in fully auto-deployable systems. In this paper, an almost self-deployable solution based on Radio-frequency identification tags and inertial Micro Electro Mechanical Sensors is presented. The benefits of the solution are evaluated and compared with the pure inertial positioning system. Figure 2 -Illustration of the agents deploying RIFD related to the Tag Database.

2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2014

Microelectromechanical Systems (MEMS) technology is playing a key role in the design of the new g... more Microelectromechanical Systems (MEMS) technology is playing a key role in the design of the new generation of smartphones. Thanks to their reduced size, reduced power consumption, MEMS sensors can be embedded in above mobile devices for increasing their functionalities. However, MEMS cannot allow accurate autonomous location without external updates, e.g., from GPS signals, since their signals are degraded by various errors. When these sensors are fixed on the user's foot, the stance phases of the foot can easily be determined and periodic Zero velocity UPdaTes (ZUPTs) are performed to bound the position error. When the sensor is in the hand, the situation becomes much more complex. First of all, the hand motion can be decoupled from the general motion of the user. Second, the characteristics of the inertial signals can differ depending on the carrying modes. Therefore, algorithms for characterizing the gait cycle of a pedestrian using a handheld device have been developed. A classifier able to detect motion modes typical for mobile phone users has been designed and implemented. According to the detected motion mode, adaptive step detection algorithms are applied. Success of the step detection process is found to be higher than 97% in all motion modes.

Methods and systems for compensating for gyroscopic errors. A system uses magnetometers to detect... more Methods and systems for compensating for gyroscopic errors. A system uses magnetometers to detect and measure a magnetic field local to a personal navigation device. When the local magnetic field is quasi-static, the rate of change of the magnetic field is combined with the rotational rate of change of the device. This generates an estimated gyroscope error. The error can then be used to correct for time-varying inherent gyroscope errors.

Presentation of a concept for robust indoor navigation. The concept is based on three key element... more Presentation of a concept for robust indoor navigation. The concept is based on three key elements: - the use of an absolute geographical reference - the hybridisation of complementary technologies - specific motion models. This concept is illustrated by the means of two applications: the urban displacement of blind people and the indoor guidance of fire-fighters

2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014, 2014

Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contai... more Pedestrian Dead-Reckoning (PDR) is the prime candidate for autonomous navigation with self-contained sensors. Nevertheless with noisy sensor signals and high hand dynamics, estimating accurate attitude angles remains a challenge for achieving long term positioning accuracy. A new attitude estimation algorithm based on a quaternion parameterization directly in the state vector and two opportunistic updates, i.e. magnetic angular rate update and acceleration gradient update, is proposed. The benefit of this method is assessed both at the theoretical level and at the experimental level. The error on the heading, estimated only with the PDR navigation algorithms, is found to less than 7° after 1 km of walk.