Related papers: A Radio-Inertial Localization and Tracking System …

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…

Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…

Mobile applications are being developed for automated logging of contacts via Bluetooth to help scale up digital contact tracing efforts in the context of the ongoing COVID-19 pandemic. A useful component of such applications is…

Structure from motion algorithms have an inherent limitation that the reconstruction can only be determined up to the unknown scale factor. Modern mobile devices are equipped with an inertial measurement unit (IMU), which can be used for…

This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…

The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…

To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning solution based on a wheel-mounted…

Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…

In this paper, we extend the Recurrent Inertial Graph-based Estimator (RING), a novel neural-network-based solution for Inertial Motion Tracking (IMT), to generalize across a large range of sampling rates, and we demonstrate that it can…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

This paper presents an inertial sensor aided technique for beam alignment and tracking in massive multiple-input multiple-output (MIMO) vehicle-to-vehicle (V2V) communications based on millimeter waves (mmWave). Since directional…

This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug…

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…

Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one…

Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…

Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…

In this paper we address the problem of indoor localization using magnetic field data in two setups, when data is collected by (i) human-held mobile phone and (ii) by localization robots that perturb magnetic data with their own…

In this report, we present our solution to the challenge provided by the SFI Centre for Machine Learning (ML-Labs) in which the distance between two phones needs to be estimated. It is a modified version of the NIST Too Close For Too Long…

In this paper, we study the user localization and tracking problem in the reconfigurable intelligent surface (RIS) aided multiple-input multiple-output (MIMO) system, where a multi-antenna base station (BS) and multiple RISs are deployed to…

Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…