Related papers: Magnetic Field Sensing for Pedestrian and Robot In…
Fingerprinting is a popular indoor localization technique since it can utilize existing infrastructures (e.g., access points). However, its site survey process is a labor-intensive and time-consuming task, which limits the application of…
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.…
Contrasting to advances in street/outdoor navigation, wall mounted maps and signs continue to be the primary reference indoor navigation in hospitals, malls, museums, etc. The proliferation of mobile devices and the growing demand for…
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…
Due to the growing area of ubiquitous mobile applications, indoor localization of smartphones has become an interesting research topic. Most of the current indoor localization systems rely on intensive site survey to achieve high accuracy.…
We demonstrate identification of position, material, orientation and shape of objects imaged by an $^{85}$Rb atomic magnetometer performing electromagnetic induction imaging supported by machine learning. Machine learning maximizes the…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
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…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including…
In this paper, we consider a sensor placement problem where sensors can move within a network over time. Sensor placement problem aims to select K sensor positions from N candidates where K < N. Most existing methods assume that sensor…
Fingerprinting-based indoor localization is an emerging application domain for enhanced positioning and tracking of people and assets within indoor locales. The superior pairing of ubiquitously available WiFi signals with computationally…
Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…
Outdoor positioning systems based on the Global Navigation Satellite System have several shortcomings that have deemed their use for indoor positioning impractical. Location fingerprinting, which utilizes machine learning, has emerged as a…
We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…
Indoor localization has drawn much attention owing to its potential for supporting location based services. Among various indoor localization techniques, the received signal strength (RSS) based technique is widely researched. However, in…
Sensor-based 3D hand tracking is still challenging despite the massive exploration of different sensing modalities in the past decades. This work describes the design, implementation, and evaluation of a novel induced magnetic field-based…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…