Indoor Multi-Target Tracking with Solar Cells
O. Oosterlee (TU Delft - Electrical Engineering, Mathematics and Computer Science)
M. Xu – Mentor (TU Delft - Embedded Systems)
M.A. Zuñiga Zamalloa – Mentor (TU Delft - Embedded Systems)
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Abstract
Solar cells are usually used as power source, but can be used for sensing as well. We propose a novel indoor tracking system that tracks people by using the change in output caused by their shadows. First, we develop a simulator to determine how the solar cells should be positioned in the tracking environment to get the best detection rate. This applies ray tracing in a model of the environment, and uses the standard deviation of solar cell output to compare different positions. Next, we apply changepoint detection methods to convert the solar cell output to a binary signal. One approach uses Bayesian online changepoint detection and another uses the change of gradient in the signal. Finally, the binary output from multiple solar cells is fused to track multiple targets in a real indoor environment in different scenarios. For this, we have implemented a particle filter based on the probability hypothesis density filter. We compare this with a tracking algorithm that uses a hidden Markov model. We have combined everything to show that it is possible to track up to two people in an indoor environment in different lighting conditions using a network of multiple solar cells.