HOLY TRINITY COLLEGE
College of Engineering and Technology Education
GENERAL SANTOS CITY
Holy Trinity College Augmented Reality (AR) Indoor
Navigation System
ABBY PACULDO
March 2020
Holy Trinity College Augmented Reality (AR) Indoor
Navigation System
A Capstone Project
Presented to the Faculty of the
College of Engineering and Technology Education
Holy Trinity College of General Santos City
_________________________
In Partial Fulfillment
of the Requirements for the Degree
Bachelor of Science in Information Technology
_________________________
By:
Abby Paculdo
March 2020
CHAPTER 1
INTRODUCTION
Project Context
Navigation has always been a part and plays a great role for humans
when discovering new places. The evolution of different navigation techniques
has helped the human species spread across the planet.
Now that most of the world is well explored, navigation remains an important part
of our society. Today's technology enables us to use navigation in a whole new
way than our ancestors could have done.
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With the rapid development of mobile communication and technology over
the past decade, the need to obtain accurate Indoor navigation system is
increasing. Smartphones have evolved to contain a GPS (Global Positioning
System) unit, and this has given rise to location-based mobile applications such
as geofencing and automotive navigation for the common user. However, GPS is
only able to locate devices as accurate as approximately 10 meters (Ye, 2012) in
an outdoor environment. With regard to this, a number of alternative technologies
have been developed for indoor navigation. Several attempts have been made
for accurate indoor navigation. Existing methods use infrared signals, ultrasound,
signal strength of various wireless connections such as GSM (Global System for
Mobile Communications), Bluetooth, and Wi-Fi, inertial sensors to track user
movements as well as various digital image processing algorithms to the
positioning (Matuszka, Gombos, Kiss, 2013).
The conventional navigation guidance provided for indoor purpose such
as map and signage around the building are not directing in straight forward
manner since they take some time for the users to figure out their exact location
and find the route to their wanted locations. Such condition gets worse in the
buildings with very complicated internal layout design just like the Holy Trinity
Campus.
The need for Indoor Navigation system inside the Holy Trinity College
appears to be increasing along with the continuing development of
establishments inside the campus. As a result of these expansions and
developments, there is a great chance that some students would not be able to
find their way around the campus. With the help of this system, users especially
students can navigate through the campus with ease.
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Statement of the Problem
Navigating through Holy Trinity College is difficult especially for new
students and visitors. The campus is composed of 5 different building which
makes it more difficult to locate classrooms and offices.
Specifically, the proponents aim to develop a system that would give
solution to the following problems:
1. Can the system provide easy navigation and directions to desired
destinations for the users especially the new students, staffs, and visitors?
2. Can the system provide directions to the nearest and available emergency
exits in the campus during emergency situations?
Objectives of the Study
The study aims to develop the Holy Trinity College Augmented Reality
(AR) Indoor Navigation mobile application.
Specifically, this aims to:
Significance of the Study
The Holy Trinity College Augmented Reality (AR) Indoor Navigation
System will be of great benefit to the following:
● Students: Students gets assigned to different classrooms every term of
each semester of the school year. Some students especially new
enrollees find it hard to navigate through the school’s facilities and be at
their classrooms on time. Therefore, with the use of this application,
students will easily find their way to their classrooms.
● Faculty and Staffs: The Faculty and Staffs especially the newly hired
employees who are still unfamiliar with the school’s structure can open the
app, scan the map’s QR image target and select the office or destination
where they want to go.
● Administrator: The Administrators of the school can install the application
and use it to guide and tour visitors and potential enrollees around the
campus.
● Guests: Visitors can install and use the application to find the location of
the office that they want to visit. The AR technology will make it easier for
guests to navigate through the buildings.
● Future researchers: AR is a new technology with so much to offer in the
world of innovations. This study will serve as a guide and a tool to help
future researchers in developing Augmented Reality applications.
Scope and Limitations of the Study
The scope of the Holy Trinity College AR Indoor Navigation System covers
all users that will visit and navigate through the campus. The user must have a
4G smartphone with at least android 7 (Nougat) operating system or higher.
Users will select a specific target location from the current default destination list
provided in the application which are the VP Academic Office, Computer
Laboratory II, CETE Dean’s Office, IT Center 1, CETE Faculty office and the
three emergency exits namely, College, Highschool and Elementary gate. The
system then calculates the shortest path and displays the path guide to the
selected destination. The information will be displayed as a series of waypoints
which are visualized icons standing in the environment. These icons are
represented by arrows to show the direction that the user should move. Simple
directional information will also be displayed if the user is not able to distinguish
the next waypoint if they are looking into the wrong direction.
The whole Holy Trinity campus is composed of more than 5 buildings and
3D map rendering would consume too much space from the hardware devices to
be used in developing the application. Hence, the application will be limited to
showcasing AR navigation to predetermined locations namely; VP Academic
Office, Computer Laboratory 2, CETE Dean’s Office, IT Center 1, CETE Faculty
Office, and to the three main gates which are the College, Highschool, and
Elementary Gate. A QR image target will be positioned in every possible entry
point in the campus. The current system will use the College gate as the default
entry point. Holy Trinity College AR Indoor Navigation System will only be
developed for android devices. The device must support ARCore via Google Play
Services for AR, which enables AR experiences built with an ARCore SDK. The
application will need high performing smartphones that are capable to handle
heavy AR applications.
Definition of Terms
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CHAPTER II
REVIEW OF RELATED LITERATURE AND SYSTEMS
Navigation requires constant monitoring of the user’s location and his to
dynamically plan and follow a directed path to a person's destination. Global
Positioning System (GPS) made outdoor navigation relatively straightforward, but
because signals are weaker inside uildings, indoor navigation became difficult to
achieve. However, advances on mobile capabilities have given rise to new
technologies and tools than can help develop and solve indoor navigation
problems.
Rosenberg (1992) created the first real operational and immersive AR
system, Virtual Fixtures. This robotic system overlays information on top of a
worker’s environment to help with efficiency. Virtual fixtures are
computer-generated percepts overlaid on top of the reflection of a remote
environment which can provide similar benefits as tools and fixtures in the real
world. It was developed at the U.S. Air Force Research Laboratory (Armstrong
Labs) while Rosenberg was working as a graduate researcher.
NASA’s flight tests from the year 1998 to 2002, the NASA X-38 was flown
using a Hybrid Synthetic Vision system that overlaid map data on video to
provide enhanced navigation for the spacecraft. It was useful for times of limited
visibility, like frosting of video camera window. AR was first used for navigation
during this development (“Interesting history of Augment ed Reality”, 2018).
A comparative study conducted by Rehman (2016) showed varying results
of using AR on different implementation devices along with using the traditional
mapping through paper map. Results showed that digital navigations like AR
provide turn by turn guidance. AR applications would require less mental
workload, time, and would be perceived as more accurate when compared to
traditional mapping with the use of paper maps.
In 2009, a mobile AR camera projector unit called Map Torchlight was
developed (Schöning et al. 2009). It uses a projector to superimpose Point of
interests (POIs), streets, and other additional spatial information on top of a
paper map. It was fully implemented to a Nokia mobile camera phone (N95) with
a mobile projector attached to the phone using an audio-video cable.
Baus and his co-authors investigated map-based mobile guides and
pointed out that mobile navigation system users prefer perspective view over a
bird’s eye view of a map (Baus et al. 2005).
One of the first ever created and deployed Augmented Reality application
on a mobile device was the Invincible train game (Parhizkar et. al., 2012). The
project was created by Daniel Wagner, Thomas Pintaric, and Florian Ledermann
from January 2004 to December 2005. The Invisible Train is the first real
multi-user Augmented Reality application for handheld devices or Personal
Digital Assistant (PDAs). This operates independently on off-the-shelf PDAs -
eliminating the need for expensive resources. The Invisible Train is a mobile
multi-user AR application, where players control virtual trains on a real wooden
miniature railroad track. These virtual trains are can only be seen by the players
via the PDA's video display since they don't exist in the physical world. This type
of interface is called the "magic lens metaphor" (“The Invisible Train: A Handheld
Augmented Reality Game”, n.d).
Zhong (2014) developed an AR indoor navigation application deployed at
Center for Information Technology Research in the Interest of Society (CITRIS)
Invention Lab at Berkeley where users can navigate through the laboratory with
the help of overlaid augmented graphics layer on top of the camera view. The
goal of the study is to come up with augmented indoor navigation to lab
equipment, step-by-step instructions for devices such as 3D printers and laser
cutters. The application also features device reservation lookup.
A group augmented reality mobile navigation system supporting indoor
positioning and group communication functions was developed by Wang et.al
(2015) for any type of exhibits. It is a combination of different technologies such
as marker-less image identification, active RFID indoor positioning, and group
communication which allows the users to directly capture and analyze exhibit
pictures with a mobile device. 3D navigation information, and group member’s
real time positions through map interface are also featured in this application.
The system also supports text communication and image sharing functions to
achieve efficient group navigation mode.
Today, Google Map has been the go-to indoor and outdoor navigation tool
all around the globe. In the US, Google’s indoor maps and navigation has been
activated in more than 250 venues like airports, shopping malls, and universities
and over 10,000 floor plans are available throughout the world. The steady
march
objects they are working with; and in museums, where artifacts can be
tagged with information such as the artifact’s historical context or where it was
discovered (Parhizkar et. al., 2012).
Many different types of devices have been used for AR applications.
Hand-held devices such as tablets and smartphones are equipped with high
definition displays, top quality cameras, high processing speeds and top of the
line sensors that can support accurate tracking are suited for AR applications
(Rehman, 2016).
Today’s smartphones are equipped with many different sensors. Instead of
using Bluetooth or Wi-Fi sensors, the smartphones camera can be used for IPS.
An augmented reality kind of IPS can be done by comparing pictures taken by
the camera with a sample of pictures stored in a database. It is then possible to
position the smartphone (Delail et. al, 2013). The camera can also be used for
visible light communication (Luo et.al, 2017). This approach uses the emitting
light itself, and can provide very good accuracy as well as being free from radio
frequencies.
AR stretches from personal computer to hand held devices and platforms.
A There are a lot of AR mobile applications that have been created and are being
used in various fields deployed on different devices to this date. With your hand
hel devices, either mobile or tablet, AR has transformed the real world and virtual
world creating a real-life experience.
CHAPTER III
TECHNOLOGY BACKGROUND
Many scientific papers have been written about different technologies
used for Indoor Navigation/Positioning System. Generally, there are two groups
of technologies that can be used to implement Augmented Reality Indoor
Navigation System. These technologies can be categorized into wireless
transmission methods and computer vision methods.
Wireless transmission methods use technologies such as Ultra-wide Band
(UWB), Wireless Local Area Networks (WLAN), and Radio Frequency
Identification (RFID) to localize a device. These technologies require physical
devices installed inside the environment such as Beacons and Wi-Fi Routers.
These technologies do not give accurate results and contains localization errors.
Device like Bluetooth have high latency during detection phase. These
technologies, although very popular, have difficulties estimating the user’s exact
position and orientation, and therefore are not ideal for Augmented Reality
Applications.
However, computer vision methods are more suitable for implementations
of Augmented Reality-based applications. Computer vision is an interdisciplinary
scientific field that refers to computers’ understanding of digital videos and
images. It acquires, processes, analyzes and understands these images, the way
your retina would, and extracts their data, turning them into numbers and
symbols (O'Brien, 2019). In order for the Augmented Reality to work, the
computer must also understand the context of the physical world. Computer
vision technologies processes and embed predefined markers into objects. AR
systems recognizes these objects through cameras and overlays additional
information and contents to the object. Computer vision methods combines real
world and Augmented Reality data.
One popular computer vision method is SLAM (Simultaneous Localization
and Mapping) which originally came from robotics researches. SLAM can provide
geometric position for the AR system. It is capable of building 3D maps of an
environment, along with tracking the location and position of the camera in that
environment. These algorithms estimate the position of the image sensor while
simultaneously modeling the environment to create a map. Knowledge of the
sensor’s position and pose, in combination with the generated 3D map of the
environment, enables the device to accurately navigate the environment.
Another popular computer vision method is based on location-based AR,
in which applications utilizes GPS data and the mobile device’s compass,
accelerometer, and gyroscope. The latter two determine your direction and
orientation, respectively. The accelerometer is how your smartphone knows
which direction you’re facing when you look at a map, while the gyroscope allows
you to change the device’s orientation by rotating it. Location-based AR uses
geolocation, rather than the embedded marker, to display the content. Using the
user’s smartphone camera, the application will localize the device in an
environment based on its geolocation and determines its orientation (Paucher &
Turl, 2010). Therefore, in the current study, we utilized location-based
Augmented Reality with the use of SLAM technology which allows users to
navigate to destinations with directions displayed right on top of physical roads or
path ways in front of the user.
The application will be developed in a game engine called Unity3D. It is
a free cross-platform game engine developed by Unity Technologies. The
application can be developed with Unity’s 2019.2.11f1 version or higher. Unity will
be responsible in stitching together every components and technologies to be
used to develop the application.
AutoCAD is computer-aided design (CAD) software that architects,
engineers, and construction professionals rely on to create precise 2D and 3D
drawings. AutoCAD was used to render the school’s floorplan which was used as
the basis for rendering the 3d map to be used in the application.
SketchUp is a 3D modeling computer program for a wide range of drawing
applications such as architectural, interior design, civil and mechanical engineering,
film, and video game design — and available in a freeware version, SketchUp Make,
and a paid version with additional functionality, SketchUp Pro. SketchUp was used to
render the 3d map that was used in the system. The version used was Sketchup
2014 with the plugin V-Ray which is a twin-engine rendering architecture built to
utilize the latest CPU and GPU computing technology. It has a large array of tools
that allows rendering faster and easier. Using this software, the initial 3d model was
developed.
Finalization of the 3D Map was done in Revit (2019) which is another 3d
modeling BIM software that allows for intelligent, 3D and parametric object-based
design. In this way, Revit provides full bi-directional associativity. Different
components for interior and exterior designs (e.g. color, pots, plants, etc.) were
added to the map.
Microsoft Visual Studio is an integrated development environment for
Microsoft Windows. It is a tool for writing computer programs, websites, web
apps, and web services. It includes a code editor, debugger, GUI design tool, and
database schema designer, and supports most major revision control systems. It
is available in both a free "Community" edition as well as a paid commercial
version. Visual studio 2019 is a programming IDE option inside the latest
versions of Unity3d which can use both C# and JavaScript as the scripting
language to compile video-games inside Unity’s built in compiler.
ARFoundation 3.0 allows you to work with augmented reality platforms in
a multi-platform way within Unity. This package presents an interface for Unity
developers to use, but does not implement any AR features itself. ARFoundation
is a package that deals with devices that support world tracking. This package
allows installation of ARCore plugin that implements camera, depth, input,
planes, raycast, reference points, and session XR Subsystems.
ZXing Unity Library is a unity plugin used to generate the QR image target
for the map. For now, the system will use 1 QR image target which will be placed
by default at the college gate. Scanning the QR image target will allow the user
to proceed to the next interface where he can choose his destination.
Database/Datasets or the ARCore Image Database supports reading,
adding, updating, and removing features from a dataset. ARCore image database
can store up to 1,000 images information. Image Database contains the rendered
3D Map of the area and the QR code generated from the ZXing Unity Library
plugin.
CHAPTER IV
METHODOLOGY
Software Development Life Cycle Model
In developing the mobile augmented reality applications, we use the
Iterative Waterfall Model development method. This model is a systematic
approach and sequence starting from the system of level requirements and then
headed to the stage of analysis, design, coding, testing / verification, and
maintenance. The iterative waterfall model provides feedback paths from every
phase to its preceding phases, which is the main difference from the classical
waterfall model.
Figure 1: Iterative Waterfall Model
Requirements and Analysis
In this stage, requirements and data gathering, analysis, and planning is
intensified and focused on the needs of the application to be developed. To know
the nature of the application to be made, the proponents must understand the
information domain of the software, for example, the functions needed, UI, and
the data to be processed. The researchers went through a series of consultations
with their adviser and conducted a survey to the students to understand their
struggles in moving around the campus. The data gathered were then analyzed
to point out the right technologies, methods and understand the business
process to be used in the next stages.
Design
After thorough analysis, designing stage comes in. On this stage, the
researchers will establish and enforce the requirements needed to support the
findings in the previous stage and to prepare for the next stage which is the
development of the application. After finding the recommended technologies,
language, IDE, and SDK, an initial UI will then be designed for the application. A
prototype was created using storyboarding plugin in Microsoft PowerPoint with
the help of Photoshop. All available documentations including demos, tutorials,
codes, articles and previously developed related applications were secured to
prepare for the next stage.
Development
Setting up all needed software and hardware requirements to be used to
implement the data and UI design created from the previous pages are done on
this stage. The data gathered and the design created from the previous stages
are transformed into pieces of codes, compiled together to form the whole
application. The UI development started with creating the home scene which will
appear after opening the application. Then a second scene was made for the QR
Image target scanner. Another scene was made as the main UI of the
application. Knowledge gained from demos and tutorials by the researchers are
also being used here.
Validation
On this stage, data from the planning stage are cross checked with the
application created on the development stage. In this stage, all application
functions must be tested, so that the application is free from bugs and errors, and
results should be strictly in accordance with the needs that have been defined
previously. Thorough testing and evaluation are needed to make sure the current
developed application is in line with the needs of the users and the objectives of
the system. Feedbacks from the validation phase allows the researcher to rework
the errors. Changes will be applied before the deployment of the application.
Deployment
This is the last stage of the process where the researcher can now deploy
the application after going through all the stages, tests, and changes to meet the
requirements and objectives stated in the previous stages. The application must
meet the objectives and answer the problems stated in the previous chapters.
CHAPTER V
SYSTEM ANALYSIS, DESIGN, CONCEPTUAL FRAMEWORK AND
IMPLEMENTATION
System Analysis
The figure below shows the System Architecture of the Holy Trinity
College AR Indoor Navigation System. The softwares used to render the floor
plan and 3d map is Autocad and Revit. The programming IDE used was
Microsoft Visual Studio using C# language. Unity 3Ds ARFoundation Library with
ARCore XR Plugin made world tracking and AR Navigation System possible in
this application.
Figure 1: System Architecture
The figure below shows the Use Case Diagram of the Holy Trinity College
AR Indoor Navigation System. The system can be accessed by two actors, the
user and admin. The image shows the context and the interactions of the actors
to the system.
Figure 2: Use Case Diagram
The figure below shows the activity diagram of the system. The image
shows the different activities inside the system that the user may take.
Figure 3: Activity Diagram
The figure below shows the activity diagram of the system. The image shows the
different activities inside the system that the user may take.
Context Diagram
Figure 5: Context Diagram
Description
Level 0 Diagram
Figure 6: Level 0 Diagram
Conceptual Framework
System Design and Implementation
Database Design
Figure 7: Entity Relationship Diagram
Figure 8: Fully Attributed Data Model
Hardware Requirements
This section shows the minimum requirement that the researcher used to
develop the application as well as the user’s smartphone compatible with the
technologies used;
● Processor – Intel(R) Core (TM) i7-8750H CPU @ 2.20GHz or higher
● Hard Drive – 1TB HDD and 250G SDD
● Memory – 8GB or higher
● Smartphone’s Memory – 2.0GB or higher
● Smartphone’s Screen – 4.0 in. or higher
Software Requirements
This section shows the minimum requirement of the computer and
smartphone’s software that the researcher used to develop and create the
application;
● Operating System – Windows 10 64bit
● Unity3D – Version 2019.2.11f1 or higher
● Android OS - Version 7.0 (Nougat) or higher
● AutoCAD – Version 2014 or higher
● SketchUp – Version 2014 or higher
● Java JDK – jdk1.8.0_152
● Android SDK and NDK
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