Related papers: Hybrid Localization: A Low Cost, Low Complexity Ap…
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…
For localization and mapping of indoor environments through WiFi signals, locations are often represented as likelihoods of the received signal strength indicator. In this work we compare various measures of distance between such…
Indoor human positioning has become increasingly important for applications such as health monitoring, breath monitoring, human identification, safety and rescue operations, and security surveillance. However, achieving robust indoor human…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
In this paper, we study probabilistic time-of-arrival (ToA) and angle-of-arrival (AoA) joint localization in real indoor environments. To mitigate the effects of multipath propagation, the joint localization algorithm incorporates into the…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
Smartphones have become a popular tool for indoor localization and position estimation of users. Existing solutions mainly employ Wi-Fi, RFID, and magnetic sensing techniques to track movements in crowded venues. These are highly sensitive…
In this paper, we propose a range-based localization algorithm to localize a wireless sensor network (WSN) in 2D. A widely used algorithm to localize a WSN in 2D is trilateration, which runs in polynomial time. Trilateration uses three…
Mobile phones provide an excellent opportunity for building context-aware applications. In particular, location-based services are important context-aware services that are more and more used for enforcing security policies, for supporting…
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…
The ubiquitous presence of WiFi access points and mobile devices capable of measuring WiFi signal strengths allow for real-world applications in indoor localization and mapping. In particular, no additional infrastructure is required.…
Indoor localization plays a vital role in the era of the IoT and robotics, with WiFi technology being a prominent choice due to its ubiquity. We present a method for creating WiFi fingerprinting datasets to enhance indoor localization…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
WiFi fingerprint-based indoor localization has been widely studied, but most existing approaches focus on absolute positioning and rely on dense coordinate annotations, which are costly to obtain at scale. In this paper, we study a…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…
Current data-driven Wi-Fi-based indoor localization systems face three critical challenges: protecting user privacy, achieving accurate predictions in dynamic multipath environments, and generalizing across different deployments.…
We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…