A Factor Graph Based Indoor Localization Approach for Healthcare

Shiyu Zheng, Ziheng Zhou, Qi Zhang, Shanshan Zhang, Ao Peng, Lingxiang Zheng, Huiru Zheng, Haiying Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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In healthcare facilities, indoor localization technology has a broad range of applications. Traditional Pedestrian Dead Reckoning (PDR) and WiFi fingerprint-based methods each have their limitations. To address these challenges, this study introduces a multi-source fusion indoor localization system that uses a Factor Graph to integrate inertial positioning algorithms with WiFi fingerprint-based localization. The system processes accelerometer and gyroscope data using a data-driven PDR algorithm. For WiFi localization, considering that the extensive data collection required is a significant barrier to the deployment of WiFi-based localization methods, the proposed approach applies Gaussian process regression techniques to limited WiFi fingerprint data, significantly reducing initial deployment costs and enhancing accuracy. Finally, the entire system employs a Factor Graph for the integration of the data-driven PDR and WiFi fingerprint localization results. Experimental results show that, compared to using only inertial or WiFi data for localization, this method significantly improves localization accuracy. The findings suggest that this approach could prompt the utilization of indoor localization technology in healthcare facilities.
Original languageEnglish
Title of host publication2023 IEEE International Conference on Bioinformatics and Biomedicine (BIBM)
EditorsXingpeng Jiang, Haiying Wang, Reda Alhajj, Xiaohua Hu, Felix Engel, Mufti Mahmud, Nadia Pisanti, Xuefeng Cui, Hong Song
Number of pages8
ISBN (Electronic)979-8-3503-3748-8
ISBN (Print)979-8-3503-3749-5
Publication statusPublished (in print/issue) - 18 Jan 2024

Publication series

PublisherIEEE Control Society
ISSN (Print)2156-1125
ISSN (Electronic)2156-1133

Bibliographical note

Publisher Copyright:
© 2023 IEEE.


  • Factor Graph
  • fingerprint positioning
  • Gaussian Process Regression
  • Indoor Positioning


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