LSTM-MLP Based Uncertainty Modelling Approach for Complex Human Indoor Trajectory

Modelling the movement uncertainty of human indoor trajectory consist of an essential part in promoting the performance of smart city related applications. At this stage, the existing uncertainty modelling algorithms usually take the constant sampling error or measurement error into consideration and cannot adapt well to the changeable human motion modes and complex handheld modes of smartphones. To fill this gap, this paper applied the Long Short-Term Memory (LSTM) network for continuous prediction of uncertainty error of human indoor trajectory with complex motion modes and detected indoor landmark points. The human motion information including handheld modes, walking speed, and heading information in extracted and fused with detected landmark points for reconstruction of human indoor trajectory under large-scale areas using Gradient Descent (GD) algorithm. In addition, the hybrid LSTM and Multilayer Perceptron (MLP) network is adopted for uncertainty error prediction, by considering both sampling error and measurement error in a specific time period, and the reconstructed trajectory with human motion features are modelled as the input vector for model training with the ground-truth uncertainty error as reference. Comprehensive experiments on real-world collected dataset indicate that the proposed LSTM-assisted uncertainty modelling algorithm has robust outperformance in uncertainty error prediction and uncertainty region definition compared with traditional uncertainty modelling approaches.