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estimations, which at a first glance can lead us to
thinking in the unfeasibility of such a purpose using
this technique. However, when looking into the
overall results gathered with the Wi-Fi lateration and
the dead-reckoning made with the accelerometer and
the magnetometer, the achieved results led us to
conclude the feasibility of creating an indoor
environment topological map with those localization
estimations over the time they are gathered. In this
sense we were able to make a simple inference
where we achieved a topological map of a room
connected to a corridor which was very realistic and
which reinforces it is possible to accomplish our
purpose.
As next steps or further developments that can be
taken after this work, we might suggest the
improvement that can be made in order to achieve
even more localization estimations, which can be
made for instance by adding more sensor
technologies to the system, such as Bluetooth.
Another kind of improvement can be made in the
scope of optimizing the inference methods. This can
be achieved, for example, by using regression
models or clustering techniques to estimate the
topology of the indoor environment using all the
estimations gathered with all the sensors at the same
time.
As future applications of our work we should
state that it leads to the suggestion of several future
studies within the area of local positioning systems.
Navigation applications, such as the ones used
nowadays within outdoor environments but applied
to indoor spaces are one of the ways of exploring the
developments of this project. Integration with
autonomous driving systems or other applications in
the robotics field of research is another possibility.
Integration with applications used for indoor
commercial purposes, as a way to provide better
efficiency and easier functionalities when consumers
search for products within indoor areas is also
considered. Using such a system in rescue situations,
as a way to know in advance the topology of the
rescue environment represents a very promising
field of application as well. Location-based social
games are another area of great potential for this
work. Generally all applications that make use of
indoor topology maps can benefit from a system that
provides, through inference, indoor topology maps.
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