Localization Mode

Localization Mode	Status	Engine	Sensors	BLE Sampling
1D	Stable, will be deprecated	KDTree	BLE	1D Sampling
1D-PDR	Stable	blelocpp	BLE,Acc	1D Sampling
2D	Testing	blelocpp	BLE,Acc,Gyro	2D Sampling

1D, 1D-PDR

• One instance for one edge
• Initialized* when user is asked to go forward at the beginning of the edge

1D-PDR

• ignore device orientation

1D-PDR, 2D

• use acceleration for detecting moving (not steps)
• it was hard to detect steps if user walks softly while waving cane

2D

• One instance for one area (including multiple edges)
• Initialized* when user is asked to go forward at the beginning of the "first" edge in the area
• should it be initialized for every edge beginning? (wrong-way tradeoff)
• use device orientation (critical for precise position detection in 2D space)

* Initialized means

• Engine receives "user's position" from NavCog UI
• It is okay if user is actually on the route
• Need to consider if user take wrong-way

Wrong way detection

TBD

Current Location

TBD