arXiv subjects

Jacob Biehl

Publications and source records attributed to Jacob Biehl.

3 recordsLinked to original sources

arXiv2018

A Radio-Inertial Localization and Tracking System with BLE Beacons Prior Maps

In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic IMU motion model as the proposal distribution of the sequential Monte-Carlo technique to track the robot trajectory. Our algorithm can globally localize and track a robot with a priori unknown location, given an informative prior map of the Bluetooth Low Energy (BLE) beacons. Also, we formulate the problem as an optimization problem that serves as the Back-end of the algorithm mentioned above (Front-end). Thus, by simultaneously solving for the robot trajectory and the map of BLE beacons, we recover a continuous and smooth trajectory of the robot, corrected locations of the BLE beacons, and the time-varying IMU bias. The evaluations achieved using hardware show that through the proposed closed-loop system the localization performance can be improved; furthermore, the system becomes robust to the error in the map of beacons by feeding back the optimized map to the Front-end.

cs.RO↗

arXiv2011

Secured histories: computing group statistics on encrypted data while preserving individual privacy

As sensors become ever more prevalent, more and more information will be collected about each of us. A longterm research question is how best to support beneficial uses while preserving individual privacy. Presence systems are an emerging class of applications that support collaboration. These systems leverage pervasive sensors to estimate end-user location, activities, and available communication channels. Because such presence data are sensitive, to achieve wide-spread adoption, sharing models must reflect the privacy and sharing preferences of the users. To reflect users' collaborative relationships and sharing desires, we introduce CollaPSE security, in which an individual has full access to her own data, a third party processes the data without learning anything about the data values, and users higher up in the hierarchy learn only statistical information about the employees under them. We describe simple schemes that efficiently realize CollaPSE security for time series data. We implemented these protocols using readily available cryptographic functions, and integrated the protocols with FXPAL's myUnity presence system.

cs.CR↗

arXiv2009

Beyond the Drawing Board: Toward More Effective Use of Whiteboard Content

We developed a system that augments traditional office whiteboards with computation for the purposes of retrieving, reusing, and sharing whiteboard content. Our system automatically captures changes to whiteboard images, detects significant changes, and identifies potential collaborative activities. Users then browse and search the collection of images captured from their camera or shared from other users' cameras based on aspects such as location, time, collaboration, etc. We report on the results of a formative study and on an evaluation of effectiveness of our system, and discuss additional functionality that can be built on our framework.

cs.HC↗