EAI Endorsed Transactions

on Creative Technologies Research Article

Indoor Navigation using Augmented Reality

Ashly Martin*, John Cheriyan, JJ Ganesh, Joel Sebastian, Jayakrishna V
Amal Jyothi College of Engineering, Kottayam, Kerala, India

Abstract

This paper introduces the idea of Indoor Navigation using Augmented Reality. With the increase in complex
building structures, people of different age may find it difficult to navigate within such structures. This paper
provides a solution for this trouble using available and accessible resources. Using this application, a shop
within a shopping mall, a specific room in a hotel etc.,can be easily located and the user is provided with
reasonably accurate visual assistance through their smartphone to reach his preferred location. The proposed
system is inspired by augmented reality and 2-D Visual markers are the fundamental elements used in this
system. Multiple visual markers are placed within the complex building structure and on scanning these
visual markers using the application, users are led to their destination using arrows displayed on the screen.
The application allows the user to choose their preferred destination and also permits them to change their
destination in between.

Received on 1 December 2020; accepted on 29 January 2021; published on 17 February 2021

Keywords: Aumented Reality (AR), Global Positioning System (GPS), Virtual Reality (VR)
Copyright © 2021 Ashly Martin et al., licensed to EAI. This is an open access article distributed under the terms of the
Creative Commons Attribution license, which permits unlimited use, distribution and reproduction in any medium so
long as the original work is properly cited.
doi:10.4108/eai.17-2-2021.168718

1. Introduction help him reach the selected destination. AR Navigation

is the new phase of indoor mapping where all the
In the steady rise of technology, Augmented Reality expectations are met.
has turned out to be one among the most exciting and
promising technologies the world has ever seen so far.
Even with all these evolving technologies, the problem
of Indoor localization and navigation still remains
2. Related Work
without an adequate solution. The fact that GPS does
not give an idea about the current altitude, lies as a Rhuta Joshi [1] conducted a survey on indoor
major obstacle to this problem. Multiple products have positioning and navigation techniques using
entered the market but the most popular ones are that augmented reality. Several existing methods are
which use sensors and other hardware of smartphones reviewed to create a navigation system that can be
to get the surrounding information and uses it to implemented in handheld devices such as smartphones.
localize users. Sensors such as the accelerometer, A review on the latest tools that can enhance the
magnetometer and gyroscope are mostly commonly implementation is of Augmented reality is also done.
embedded into the smartphones to obtain a quicker In this system, there are two phases: the owner setup
estimation of the user’s location. and visitor navigation. The owner (can be the admin)
But currently, thanks to the development of provides a floor map and destinations of the indoor
smartphones having cameras with high performance structure to the navigation system. Each destination
and computational abilities, we can use Computer can be identified as a node in a graph that is used
Vision systems that rely on marker-based algorithms for location identification with the corresponding
to estimate the position of the user. By accomplishing coordinates. For the visiting user to use the application,
this, we can also help the user to move forward, thus he/she just has to scan a nearby destination point
assisting him visually using Augmented Reality to and can acquire his/her current location by using
landmark detection algorithms. The user can then
select from a list displaying the destinations within the
∗ Corresponding author. Email: [email protected] particular building. On selecting the destination, the

EAI Endorsed Transactions on

1
Creative Technologies
12 2020 - 03 2021 | Volume 8 | Issue 26 | e1
Ashly Martin et al.

shortest path is calculated and the user is then directed. camera of the phone. The analysis led to a conclusion
that the Vuforia marker has better performance when
compared to the others if the size of the marker is
greater than or equal to 5x5 cmexp2 . AprilTag and
ArUco performs well in any marker size and any
tested light conditions and floor patterns in real-time
environment. The aim is to minimize the marker size
and to enhance the speed while giving satisfactory user
experience.

Jaewoo Chung [5] explains how pedestrians may

lose focus while paying attention to their device and
not on their actual path, which often can cause them
harm. A mindful navigation system is proposed which
can reduce errors and improve the user experience. An
Figure 1. Implementing augmented indoor navigation system augmented reality system is used to test the hypothesis
using direction guides. with the directions directly projected on the user’s path
while he/she moves forward. It also states that both the
performance and overall user experience will improve
Rudiger Pryss [2] explains the use of the Augmented once the user feels like he/she is in control of their path.
Reality Engine Application (AREA) project in which a This system brings forward improved user experience,
kernel that enables location-based mobile augmented decreased travel time, confusion, errors and also helps
applications is developed . In projects developed using in landmarks being more noticed than before.
this kernel, a feature enabling tracks was required
since it can help in assisting users in activities such as
mountaineering. By conducting experiments, AREA
gives better results than commercial location-based 3. Existing Systems
mobile augmented applications like AR GPS Navigator.
Except for the static scene of Android, AREA performs In recent times, indoor local references such
well in all other scenarios. as Wifi/Bluetooth based localization or Inertial
Measurement unit are used for local navigation
Buti Al Delail [3] evaluates a indoor navigation purposes. Inertial Measurement Unit consists of
and localization system that combines inertial tracking gyroscope, compass recording and accelerometer. With
and augmented reality. This system makes the user all these sensors, the expected accuracy is not attained
aware about his/her location and makes it easier to during navigation. Currently existing AR devices like
find other places with reasonable precision. An image Google Glass and Google Cardboard are supported
recognition system is used such that it can be run in heavily by hardware that some smartphones lack. To
any campus, given a database exists for recognizing the overcome this shortcoming, client-server architecture
placed markers and also for determining the location is used for intensive processing.
and displaying the required information in Augmented
Reality. It also shows that inertial navigation provides
a satisfactory approach to keep in track of the user’s
position while indoors. The system described can be 4. Proposed Systems
deployed in any hardware devices with the required
sensors and resources available in the modern day’s 4.1. System Specifications
smartphones. • The application requires Vuforia supported
Android (version 4.0 or above) or iOS devices
Gaetano C. La Delfa [4] states the use of marker-
based and markerless computer vision approaches. A
qualitative performance evaluations is done on three • The smart device requires a minimum RAM of
2-D visual markers which are suitable for real time 512 MB
applications. The selected markers are Vuforia marker,
AprilTag and ArUco marker. These markers are tested
in different light conditons and floor patterns while • A camera is essential for the AR and nearby
taking into account the three important parameters- discovery features to work
the size, the detecting speed and the distance from the

EAI Endorsed Transactions on

2
Creative Technologies
12 2020 - 03 2021 | Volume 8 | Issue 26 | e1
 Indoor Navigation using Augmented Reality

• The application requires a database to store in and VR platforms.

details of registered users
Vuforia. Vuforia SDK can be used as a kit that creates
augmented reality applications for mobile devices. It
4.2. Augmented Reality uses computer vision technology to acknowledge and
Augmented reality (AR) is a technology which extends track 3D objects and planar images in real-time. The
our physical world and adds layers of digital knowledge image recording functionality permits developers to
within. AR appears in a real world environment, adding place and align virtual objects, like 3D models and
sounds, videos, and graphics to it. AR is a view of the other graphics, when viewed via a smartphone camera,
actual real- world environment, with computer- in regard to world objects. The virtual object then
generated images superimposed, thereby altering tracks the image’s position and orientation in real time,
the understanding of reality. In other words, both in order that the viewers view of the thing corresponds
virtual world and real world in combined to give to the target’s perspective. Therefore the virtual model
an enhanced experience to the user. Using AR, 3D appears to be part of the real- world environment. The
virtual models are directly projected onto real-time Vuforia SDK supports various 2D and 3D target forms
objects, leadin to various virtual reality technologies including 3D Model Target, markerless Image Targets
influencing our social life and entertainment. Typically, etc.
AR apps connects digital animation to a special The recent version- Vuforia Unity 2019.2 of the vuforia
marker or identify the location with the help of GPS engine enable it to collaboratively work with Unity on
in smartphones. Augmentation happens in real time, a single platform to bring enhanced experienced to
for example, overlaying scores to live feed sport events the both the developer and user. Both head-worn and
within the context of the environment or in weather hand-held devices are included in this. Additionally, it
channel studio where weather reports can be displayed can also detect special markers called Frame marker,
using images next to the news reporter. which we have used in our indoor localization project.
In our proposed system, augmented reality is used to 512 such markers exist as an archive. Each one of these
display arrows marks or directions which appears to be markers has a unique ID in the binary pattern and
on the floor and can be viewed by the user through his needs an area free of graphical objects around it with a
phone. For this, we make use of the following software good contrast to the black frame.
development kits :

• Unity 4.3. Methodology

The proposed system is made using position markers.
These custom markers can be scanned from any angle
• Vuforia
using the camera of the user’s smartphone. Several
such markers are placed either on the floor or stuck
on a wall and spread across the site. They would be
Unity. Unity is a platform that offers the requisite col- positioned particularly at all entrances and all other
lection of features for game developers to create games points of interests so that the application can easily
faster and efficiently. Unity is a game development identify them. Upon scanning, the user is directed to
system that supports many key areas and puts them his/her destination using the visual displays shown
together. We can bring in 2D, 3D, art and assets, assem- on their phone. The application provides reasonably
ble these materials into scenes and environments, add accurate visual assistance to the user by focusing on
audio, lighting and other special effects, physics and the features of the system and on how to exploit these
animation, interactivity, and game play logic, and edit, features to increase the performance :
monitor, and optimize content for user target platforms. - the fixed size of marker within the frame, which
Unity 3D game engine is a games magic warehouse, and depends on the distance from the camera to the floor
pioneers of augmented reality. and also makes it faster to find the marker, resulting in
Exploiting the power of this cross-platform tool improvement in the detecting speed.
will create practical and immersive solutions to take - Somewhat uniform background pattern of the floor,
gaming to a new level. Unity enables the user to create which can be used to improve the decoding speed of
both 2D & 3D games. The engine provides a primary the algorithm.
C# scripting API, for both plug- in Unity editor and - Chances for the marker to be at the upper part of the
games themselves, as well as drag and drop functions. frame, since the user moves forward while navigating.
In the proposed system, unity is used to create the - Marker postions should be known beforehand
application as it is a good platform to create both AR so that the currently decoded marker should be one

EAI Endorsed Transactions on

3
Creative Technologies
12 2020 - 03 2021 | Volume 8 | Issue 26 | e1
Ashly Martin et al.

within the previously decoded marker’s boundary. 4.4. Backend Design

The following characteristics of the chosen markers Firebase is used as back-end service. It is basically
must be considered for a better performance: an application development platform. The back end
1. Small size - the most suitable compromise between service provides an API that synchronize and store the
size, detection speed and robustness must be found to application data on Firebase’s cloud.
enhance the algorithm.
2. Unvarying performance in changing light Firebase provides backend authentication service
conditions - On changing the light conditions that for the application. The ready-made UI libraries
may occur to switching on/off the lights, shadows etc, and easy-to-use SDKs are used for authenticating
the application shouldn’t hinder in performance users to the application. Authentication is supported
3. Robustness to blurred images- which may occur using passwords, emails, phone numbers etc. The
due to the fast movements of the user. application’s user identities are securely saved in the
cloud and provide the same personalized experience
equally to all the users. Thus a user have the options to
avail sign-up and log-in to his account.

In the proposed system, firebase is used to store

user registration and login details. These details are
by default stored in tables for easier access. Another
added advantage is that the admin can keep an eye on
the user activities through the firebase dashboard.

5. Results and Discussion

Figure 2. Flowchart of user

The above flowchart shows the navigation done by Figure 3. App

the user. The application first ensures if the user is
registered or not. If yes, then he/she is required to We developed an unity application that helps in
login with the necessary details. If not, he/she will have indoor localization and assists users that need help
to sign-up to use the application. On logging in, the navigating within the indoor structure. Navigation
user is required to select the destination within that assistance is provided using arrows displayed on the
building/floor. After entering the destination, visual smartphones.
assistance in the form of arrows are shown to the user, This application has a very simple and user friendly UI.
leading them to their destination. If the user has to Inorder to use the application, the users are required
change their path in between, then the user can enter to sign in. Firebase authentication services allow
the new destination and the user will then again be registered users to sign in and non-registered user to
assisted to their new destination. sign up to this application. All user data is stored in the
firebase inside tables for easier access.

EAI Endorsed Transactions on

4
Creative Technologies
12 2020 - 03 2021 | Volume 8 | Issue 26 | e1
 Indoor Navigation using Augmented Reality

Figure 4. Signup page Figure 5. Signin page Figure 8. Intermediate nodes Figure 9. On reaching the
are shown selected destination

The sign-in button allows the user to use the app

after successfully logging in. Existing users can login user, from which they can choose and start navigating.
using the required details and non-existing users can
sign up by filling in the required details.
6. Conclusion
The proposed system can be designed and developed
using the above discussed technologies. The priority
of this application is to assist users in unfamiliar
surroundings within a complex indoor structure. Users
can select their desired location within the indoor
structure and the application then displays directions
that can be viewed through the user’s smartphone
using augmented reality. This constantly keeps the
users interactive with the application and leads them
to their preferred destination. The application is made
in such a way that users of all age can use it with ease.
In the nearby future, we plan to further upgrade
the system by making navigation available to users
worldwide. Existing users can rate the paths taken
within an indoor structure so that others can choose
the best rated pathway to their destination. Audio
Figure 7. The initial node assistance can also be made available to users who
Figure 6. Available destina-
to the selected destination is prefer it.
tions
shown

On signing into the application, the available

destinations within the building structure are shown References
to the user and the user can choose his/her preferred
destination. On selecting the destination, the first [1] Rhuta Joshi, Anuja Hiwale, Shivani Birajdar and Renuka
marker is scanned using the camera and then visual Gound, “Indoor Navigation with Augmented Reality”,
Springer, 2020.
assistance is provided using arrows to direct the user.
[2] Rudiger Pryssa, Philip Geigera, Marc Schicklera, Johannes
Schobela, Manfred Reicherta, “Advanced Algorithms
The arrows appear one by one as the user moves and for Location-Based Smart Mo- bile Augmented Reality
directs him to his destination. Applications”
If the user desires to changes his destination in between, [3] Buti Al Delail, Luis Weruaga, M. Jamal Zemerly,
he/she can do so by clicking on the back button and the “Indoor localization and navigation using smartphones
list of destinations will once again be displayed to the augmented reality and inertial tracking” IEEE, 2013.

EAI Endorsed Transactions on

5
Creative Technologies
12 2020 - 03 2021 | Volume 8 | Issue 26 | e1
Ashly Martin et al.

[4] Gaetano C. La Delfa, V. Catania, S. Monteleone, Juan F. De [7] Aditya Anerao, Samridhi Pramanik, Hemraj Bobade, Prof
Paz, J. Bajo, “Computer Vision Based Indoor Navigation: S.N Firame, “Location Based Augmented Reality Nav-
A Visual Markers Evaluation” Springer International igation Application” International Journal of Scientific
Publishing Switzerland, 2015. Research in Computer Science, 2019.
[5] Jaewoo Chung, Francesco Pagnini, Ellen Langer, “Mindful [8] Wolfgang Narzt, Gustav Pomberger, Alois Ferscha Dieter
navigation for pedestrians: Improving engagement with Kolb, Reiner Muller, JanWieghardt Horst, Hortner,
augmented reality”, Elsevier, 2014. Christopher Lindinger, “Augmented reality navigation
[6] QIN Yong-xu, LIU Jia-min, QIU Hui, YAN Bo, JIN systems”
Chang-xu, “Campus Navigation System Based on Mobile [9] Abhijit Chandgadkar, “An Indoor Navigation System For
Augmented Reality” . Smartphones”, 2013.

EAI Endorsed Transactions on

6
Creative Technologies
12 2020 - 03 2021 | Volume 8 | Issue 26 | e1