Related papers: A Radio-Inertial Localization and Tracking System …
Spatial navigation of indoor space usage patterns reveals important cues about the cognitive health of individuals. In this work, we present a low-cost, scalable, open-source edge computing system using Bluetooth Low Energy (BLE) and…
We propose a probabilistic packet reception model for Bluetooth Low Energy (BLE) packets in indoor spaces and we validate the model by using it for indoor localization. We expect indoor localization to play an important role in indoor…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Bluetooth Low Energy systems are one of the most popular solutions used for indoor localization. Unfortunately their accuracy might not be sufficient for some of the applications. One way to reduce localization errors is hybrid positioning,…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
Indoor wireless ranging localization is a promising approach for low-power and high-accuracy localization of wearable devices. A primary challenge in this domain stems from non-line of sight propagation of radio waves. This study tackles a…
In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…
The Internet of Things (IoT) can enable smart infrastructures to provide advanced services to the users. New technological advancement can improve our everyday life, even simple tasks as a visit to the museum. In this paper, an indoor…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
Indoor Positioning System (IPS) is a crucial technology that enables medical staff and hospital managements to accurately locate and track persons or assets inside the medical buildings. Among other technologies, Bluetooth Low Energy (BLE)…
Inertial localization is particularly valuable in GPS-denied environments such as indoors. However, localization using only Inertial Measurement Units (IMUs) suffers from drift caused by motion-process noise and sensor biases. This paper…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
An indoor, real-time location system (RTLS) can benefit both hospitals and patients by improving clinical efficiency through data-driven optimization of procedures. Bluetooth-based RTLS systems are cost-effective but lack accuracy and…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
While a vast number of location-based services appeared lately, indoor positioning solutions are developed to provide reliable position information in environments where traditionally used satellite-based positioning systems cannot provide…