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The rapid development of mobile computing has prompted indoor navigation to be one of the most attractive and promising applications. Conventional designs of indoor navigation systems depend on either infrastructures or indoor floor maps. This article presents CloudNavi, a ubiquitous indoor navigation solution, which relies on the point clouds acquired by the 3D camera embedded in a mobile device. Particularly, CloudNavi first efficiently infers the walking trace of each user from captured point clouds and inertial data. Many shared walking traces and associated point clouds are combined to generate the point cloud traces, which are then used to generate a 3D path-map. Accordingly, CloudNavi can accurately estimate the location of a user by fusing point clouds and inertial data using a particle filter algorithm and then guiding the user to its destination from its current location. Extensive experiments are conducted on office building and shopping mall datasets. Experimental results indicate that CloudNavi exhibits outstanding navigation performance in both office buildings and shopping malls and obtains around 34% improvement compared with the state-of-the-art method.

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Set reconciliation between two nodes is widely used in network applications. The basic idea is that each member of a node pair has an object set and seeks to deliver its unique objects to the other member. The Standard Bloom Filter (SBF) and its variants, such as the Invertible Bloom Filter (IBF), are effective approaches to solving the set reconciliation problem. The SBF-based method requires each node to represent its objects using an SBF, which is exchanged with the other node. A receiving node queries the received SBF against its local objects to identify the unique objects. Finally, each node exchanges its unique objects with the other node in the node pair. For the IBFbased method, each node represents its objects using an IBF, which is then exchanged. A receiving node subtracts the received IBF from its local IBF so as to decode the different objects between the two sets. Intuitively, it would seem that the IBF-based method, with only one round of communication, entails less communication overhead than the SBF-based method, which incurs two rounds of communication. Our research results, however, indicate that neither of these two methods has an absolute advantages over the others. In this paper, we aim to provide an in-depth understanding of the two methods, by evaluating and comparing their communication overhead. We find that the best method depends on parameter settings. We demonstrate that the SBF-based method outperforms the IBF-based method in most cases. But when the number of different objects in the two sets is below a certain threshold, the IBF-based method outperforms the SBF-based method.

The proliferation of mobile computing has prompted navigation to be one of the most attractive and promising applications. Conventional designs of navigation systems mainly focus on either indoor or outdoor navigation. However, people have a strong need for navigation from a large open indoor environment to an outdoor destination in real life. This article presents IONavi, a joint navigation solution, which can enable passengers to easily deploy indoor-outdoor navigation service for subway transportation systems in a crowdsourcing way. Any self-motivated passenger records and shares individual walking traces from a location inside a subway station to an uncertain outdoor destination within a given range, such as one kilometer. IONavi further extracts navigation traces from shared individual traces, each of which is not necessary to be accurate. A subsequent following user achieves indoor-outdoor navigation services by tracking a recommended navigation trace. Extensive experiments are conducted on a subway transportation system. The experimental results indicate that IONavi exhibits outstanding navigation performance from an uncertain location inside a subway station to an outdoor destination. Although IONavi is to enable indoor-outdoor navigation for subway transportation systems, the basic idea can naturally be extended to joint navigation from other open indoor environments to outdoor environments.