Related papers: Hybrid Localization: A Low Cost, Low Complexity Ap…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of multimodal measurements, including wheel odometry, visual…
For many years, there has been an impressive progress on visual odometry applied to mobile robots and drones. However, the visual perception is still in the spotlight as a challenging field because the vision sensor has some problems in…
We propose a new approach towards RSS (Received Signal Strength) based wireless localisation for scenarios where, instead of absolute positioning of an object, only the information whether an object is inside or outside of a specific area…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
In recent years, the Internet of Things (IoT) has grown to include the tracking of devices through the use of Indoor Positioning Systems (IPS) and Location Based Services (LBS). When designing an IPS, a popular approach involves using…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Recent trends have accelerated the development of spatial applications on mobile devices and robots. These include navigation, augmented reality, human-robot interaction, and others. A key enabling technology for such applications is the…
Wi-Fi fingerprinting remains one of the most practical solutions for indoor positioning, however, its performance is often limited by the size and heterogeneity of fingerprint datasets, strong Received Signal Strength Indicator variability,…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
While fingerprinting localization is favored for its effectiveness, it is hindered by high data acquisition costs and the inaccuracy of static database-based estimates. Addressing these issues, this letter presents an innovative indoor…
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…
State-of-the-art device-free localization systems infer presence and location of users based on received signal strength measurements of line-of-sight links in wireless networks. In this letter, we propose to enhance device-free…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Sensor nodes are low cost, low power devices that are used to collect physical data and monitor environmental conditions from remote locations. Wireless Sensor Networks(WSN) are collection of sensor nodes, coordinating among themselves to…
The scale of wireless technologies penetration in our daily lives, primarily triggered by the Internet-of-things (IoT)-based smart cities, is beaconing the possibilities of novel localization and tracking techniques. Recently, low-power…
This paper details a number of indoor localization techniques developed for real-time monitoring of older adults. These were developed within the framework of the i-Light research project that was funded by the European Union. The project…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…