Conceptualization is necessary (see Figure 4) in order to established path and position as the key aspects of a navigation aid for mobile devices that will use 3D map, and a Voronoi diagram that suits navigation theory has to be considered (see Fig. 5). Navigation theory will allow for an understanding of people’s behaviour while they are moving, so that the Voronoi diagram must suit how it is applied. Navigation theory, as explained earlier, states that humans first extract landmarks from an environment. These landmarks are salient but static cues, orientation-dependent, and also disconnected from one another. Accordingly, our study uses this concept to design the conceptual framework for the application.
IV. Results
The generated Voronoi diagram shown in Fig. 5 is the basis on which the landmark and route can be established in the application for navigation aid.
The figure is designed to provide an analogy of spatial data components and their relationship with navigation practices and computational geometric representation. It was generated through the Voronoi diagram technique in Matlab. Matlab has a function “voronoi.m” which is called by voronoi (x, y) in order to plot the Voronoi diagram for the given number of nodes. Each node is plotted randomly with two coordinates x and y within a metre square grid.
The code that generates Fig. 5 is as follows:
x = rand(1,90); y = rand(1,90); voronoi(x,y)
This code invokes the Matlab Voronoi generator to produce a Voronoi diagram in a 2D (x by y) metre square plane with ninety nodes. Due to the large number of nodes within the plane shown in Fig. 4, some nodes within neighbouring regions seems to be attached together; these nodes are as follows:
y = 0.6 – 0.7 x = 0.3 – 0.4 y = 0.6 – 0.7 x = 0.7 – 0.8 y = 0.7 – 0.8 x = 0 – 0.1
Two nodes are very close to each other within this grid
Two nodes are very close to each other within this grid
Two nodes are very close to each other within this grid
Fig. 4. Conceptual framework
Adamu Abubakar, Sadegh Ameri, Suhaimi Ibrahim, Teddy Mantoro
Copyright © 2014 Praise Worthy Prize S.r.l. - All rights reserved International Review on Computers and Software, Vol. 9, N. 9
Fig. 6. Class diagram for the Voronoi diagram generation
Fig. 7. Distributions of points within one floor of an indoor area In terms of representation of landmarks, the above
situation might not be reliable as nodes are so close to each other, and therefore the number of nodes havs to be reduced. This clearly indicates a high-density populated area representation. A landmark in this research is considered as the representation of “city furnitures”, that is features that bring about recognizability such the position of ATM machines, trees, lamp-posts, bridges, buildings, etc.
At the layer in which the Voronoi technique is applied, a considerable number of different methods are used in different classes to generate the diagram [13]. The most important variables are the points or nodes and vertices or edges which generate the region. A node or point constitutes a place which stores the x and y coordinates of the location that it belongs to.
As a result, a node class will be responsible for storing all the nodes on the Voronoi diagram, as shown in Fig. 6. For appropriate storage, an interArray method is provided to store all the points being generated for particular regions; when another node is added, this can
be updated by the addElement method. Such an element can be set with the setElement method. The lines joining and setting boundaries for nodes within the Voronoi diagram are the vertices or edges.
These are held in the vertex or Voronoi vertex class which stores the vertices or all boundaries for the entire region within the Voronoi diagram. In order to integrate the nodes and vertices, another class is required; this is the main class, also called the Voronoi diagram class.
The implementation of the algorithm considering the entire perimeter under consideration in the Voronoi diagram A is as follows:
Input =A, which is the set of all the
n distinct nodesA
a a a1, 2, 3,...,an
within the perimeter.
Output =Aijas the decomposition of the entire perimeter into n number of regions connected by the their closest neighboring nodes.
Adamu Abubakar, Sadegh Ameri, Suhaimi Ibrahim, Teddy Mantoro
A within the given perimeter.
while each node position established,
do find the perpendicular bisector between the nodes,
if more nodes are added from set A
an then find the perpendicular bisector between the nodeselse you are left with only two points and a Voronoi polygon could not be formed
else update the triangulation edge indices and edge midpoints
do find the vertex nearest the midpoints then update the triangulation edge indices and edge midpoints until the edges are exhausted Initialize another random node to repeat the algorithm
The indoor area of the fourth floor of the Tun Abdul Razak building in UTM Jalan Samarak, Kuala Lumpur was used to shows the feasibility of the proposed scheme (see Fig. 7). It is easy to draw the layout of a building with a distribution of points as in Figure 7. The most important part is that the selected points that will form a Voronoi diagram. Points very close to the edges of the building cannot generate a boundary as postulated in lemma 2. Therefore, using our concept for an application that will use Voronoi aided path and location of 3D objects in a mobile device for indoor navigation, only the central parts of the building would be suitable.
V.
Conclusion
This paper provides the feasibility of establishing 3D objects on a 3D map in a mobile device’s visualization with path and location precision. This is important because it could enhance user perception of the objects on the 3D Map. The reason for our assessment is that path and location on 3D maps inside a mobile device would improve user interaction with the device for navigation. The path and location were evaluated by using a Voronoi diagram to establish a node and edge in a space with a reasonable degree of accuracy; this will eventually ensure the precision of the ground-truth or real-life position of the 3D navigation application. This is because the Voronoi algorithm relies on the concept of computational geometry applied to the description of points and the paths between points
It can therefore be implemented on navigation systems on mobile devices to help people finding their way in unfamiliar places. The result of our concept could be implemented in the design of navigational aid devices in general.
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Acknowledgments
This research is funded by the Universiti Teknologi Malaysia (UTM) in collaboration with the Malaysian Ministry of Education under the Vot no. 4F238. The authors would like to thank the Research Management Centre of UTM and the Malaysian Ministry of Education for their support and cooperation including students and other individuals who are either directly or indirectly involved in this project.
Adamu Abubakar, Sadegh Ameri, Suhaimi Ibrahim, Teddy Mantoro
Copyright © 2014 Praise Worthy Prize S.r.l. - All rights reserved International Review on Computers and Software, Vol. 9, N. 9
Authors’ information
1
Kulliyyah of Information and Communication Technology, International Islamic University Malaysia.
2, 3Advanced Informatics School (AIS), Universiti Teknologi Malaysia. 4
Faculty of Science and Technology, Universitas Siswa Bangsa International, Jakarta, Indonesia.
Adamu Abubakar is currently an Assistant
Professor at the International Islamic University of Malaysia, Kuala Lumpur. His academic qualifications were obtained from Bayero University Kano Nigeria, for bachelor and post- graduate diploma and master degrees, and from the International Islamic University Malaysia for his PhD degree. His research areas of interest include Navigation, Network and Information Security, Machine Learning, Human Computer Interaction (HCI), Information Retrieval Neural Networks, Genetic Algorithms and Fuzzy Logic, Data Mining, Image Processing, Web Design and Security, and Information Systems. He is now working on 3D Mobile Navigation Aids, Cryptography, Web Design and Security, and Digital Watermarking. He is a member of IEEE and ACM.
E-mail: [email protected]
Sadegh Ameri is currently a PhD candidate in
software engineering at AIS (Advanced Informatics School), UTM International Campus, Kuala Lumpur. In 2008, he received his Bachelor of Science (B.Sc.) in software engineering from Islamic Azad University of Shiraz in Iran and his Master’s degree insoftware engineering from UTM, Kuala Lumpur, Malaysia in 2011. He received Best Student Award in 2011 for academic excellence in Master’s studies. His research areas of interest include Indoor User Tracking, Cloud Computing, Software Engineering, Mobile Computing, Web Applications, Data Mining and Information Systems.
E-mail: [email protected]
Suhaimi Ibrahim is an associate professor of
software engineering currently serving UTM as the Deputy Dean (Research and Development) of UTM-AIS (Advanced Informatics School), UTM International Campus, Kuala Lumpur. He was formerly the Deputy Director of CASE (Centre for Advanced Software Engineering), and has approximately 30 years of experience in teaching and research. He is actively involved in many short-term and long-term national research grants under the research university and government funds. He was awarded an ISTQB certified tester certification and has been a board member of the Malaysian Software Testing Board (MSTB) since 2008. As a board member he is actively involved in promoting professional software testing into the local university syllabus and curriculum via a pilot university programme under the MSTB-government initiatives. He also participated in the design and implementation of the Software Engineering curriculum at Bachelor, Master and Engineering Doctorate levels.
E-mail: [email protected]
Teddy Mantoro is Vice Rector for Academic
and Student Affairs (ad-interim) and Dean of the Faculty of Science and Technology, Universitas Siswa Bangsa International, Jakarta, Indonesia. He received his PhD from the School of Computer Science at the Australian National University (ANU), Canberra, Australia. His research interests focus on Information Security, pervasive/ubiquitous computing, context aware computing, mobile computing and intelligent environment. He has published more than 110 conference/journal papers and 4 computing books in Indonesia, USA, and Germany. In 2013 he served on committees and review boards for more than 30 International conferences. He is also a Senior Member of IEEE, the managing editor for the International Journal of Mobile Computing and Multimedia Communications (IJMCMC), and editor for 3 other journals. He is the founder and was the leader of the Integ Lab (Intelligent Environment Research Group) at KICT, International Islamic University Malaysia (IIUM), Kuala Lumpur, Malaysia. Integ Lab has received 43 medals since 2009 from national and international innovation technology competitions. He holds 4 (four) Malaysian patents under his name.
International Review on Computers and Software (I.RE.CO.S.), Vol. 9, N. 9
ISSN 1828-6003 September 2014