Related papers: A Radio-Inertial Localization and Tracking System …
We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
This paper presents a literature survey and a comparative study of Bug Algorithms, with the goal of investigating their potential for robotic navigation. At first sight, these methods seem to provide an efficient navigation paradigm, ideal…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Inertial tracking is vital for robotic IoT and has gained popularity thanks to the ubiquity of low-cost inertial measurement units and deep learning-powered tracking algorithms. Existing works, however, have not fully utilized IMU…
This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Mobile device localization in wireless sensor networks is a challenging task. It has already been addressed when the WiFI propagation maps of the access points are modeled deterministically. However, this procedure does not take into…
In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…
In Swarm Robotic Systems (SRSs), only a few robots are equipped with Global Positioning System (GPS) devices, known as anchors. A challenge lies in inferring the positions of other unknown robots based on the positions of anchors. Existing…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
This paper proposes a novel method called MagShield, designed to address the issue of magnetic interference in sparse inertial motion capture (MoCap) systems. Existing Inertial Measurement Unit (IMU) systems are prone to orientation…
This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper…
The Internet of Things helps to have every individual interconnected with their surroundings and to interact with them through smart devices. In recent years, Bluetooth Low Energy (BLE) technology has become very popular in smart…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…
Indoor self-localization is a highly demanded system function for smartphones. The current solutions based on inertial, radio frequency, and geomagnetic sensing may have degraded performance when their limiting factors take effect. In this…