Related papers: Accurate position tracking with a single UWB ancho…
The paper presents a comparison of performance of two Kalman Filters: extended Kalman filter (EKF) and unscented Kalman filter (UKF) in a hybrid Bluetooth-Low-Energy-ultra-wideband (BLE-UWB) based localization system. In the system, the…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
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…
Sensor nodes localization in wireless Internet of Things (IoT) sensor networks is crucial for the effective operation of diverse applications, such as smart cities and smart agriculture. Existing sensor nodes localization approaches heavily…
Ultra-wideband (UWB) through-wall radar has a wide range of applications in non-contact human information detection and monitoring. With the integration of machine learning technology, its potential prospects include the physiological…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
This paper presents opt-in camera, a concept of privacy-preserving camera systems capable of recording only specific individuals in a crowd who explicitly consent to be recorded. Our system utilizes a mobile wireless communication tag…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
We introduce LIDAUS Localization of IoT Device via Anchor UAV SLAM), an infrastructure-free, multi-stage SLAM system that utilizes an Unmanned Aerial Vehicle (UAV) to accurately localize IoT devices in a 3D indoor space where GPS signals…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
Perceptual aliasing and weak textures pose significant challenges to the task of place recognition, hindering the performance of Simultaneous Localization and Mapping (SLAM) systems. This paper presents a novel model, called UMF (standing…
In the scope of this paper, the precise positioning of objects with the help of Ultra Wide Band technology is evaluated. To achieve this, a prototype module for the use with the Decawave transceiver DW1000 was implemented and added to…
Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…
Drones may be more advantageous than fixed cameras for quality control applications in industrial facilities, since they can be redeployed dynamically and adjusted to production planning. The practical scenario that has motivated this…
Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…