Related papers: Online Indoor Localization Using DOA of Wireless S…
Mobile robotic agents often suffer from localization uncertainty which grows with time and with the agents' movement. This can hinder their ability to accomplish their task. In some settings, it may be possible to perform assistive actions…
Direction-of-arrival (DoA) is a critical parameter in wireless channel estimation. With the ever-increasing requirement of high data rate and ubiquitous devices in wireless communication systems, effective wideband DoA estimation is…
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…
The quick detection and localization of partial discharge (PD) in an air-insulated substation (AIS) based on ultrahigh-frequency (UHF) sensor arrays are efficient for power equipment monitoring. The adopted UHF PD time difference of arrival…
In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Mobile applications are being developed for automated logging of contacts via Bluetooth to help scale up digital contact tracing efforts in the context of the ongoing COVID-19 pandemic. A useful component of such applications is…
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…
An approach to the estimation of the Direction of Arrival (DOA) of wide-band signals with a planar microphone array is presented. Our algorithm estimates an unambiguous DOA using a single planar array in which the microphones are placed…
High-accuracy positioning has become a fundamental enabler for intelligent connected devices. Nevertheless, the present wireless networks still rely on model-driven approaches to achieve positioning functionality, which are susceptible to…
High data rate communication with Unmanned Aerial Vehicles (UAV) is of growing demand among industrial and commercial applications since the last decade. In this paper, we investigate enhancing beam forming performance based on signal…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
With the introduction of shared spectrum sensing and beam-forming based multi-antenna transceivers, 5G networks demand spectrum sensing to identify opportunities in time, frequency, and spatial domains. Narrow beam-forming makes it…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…
Most 6-DoF localization and SLAM systems use static landmarks but ignore dynamic objects because they cannot be usefully incorporated into a typical pipeline. Where dynamic objects have been incorporated, typical approaches have attempted…
Humans and robots working together in an environment to enhance human performance is the aim of Industry 5.0. Although significant progress in outdoor positioning has been seen, indoor positioning remains a challenge. In this paper, we…
Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…
Previous studies explained how the 2D positioning problem in indoor non line-of-sight environments can be addressed using ray tracing with noisy angle of arrival (AoA) measurements. In this work, we generalize these results on two aspects.…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…