Related papers: SmartFPS: Neural Network based Wireless-inertial f…
Pedestrian trajectory modelling in an urban complex is challenging because pedestrians can have many possible destinations, such as shops, escalators, and attractions. Moreover, weather and time-of-day may affect pedestrian behavior. In…
Multispectral pedestrian detection has attracted increasing attention from the research community due to its crucial competence for many around-the-clock applications (e.g., video surveillance and autonomous driving), especially under…
We propose a distributed cooperative positioning algorithm using the extended Kalman filter (EKF) based spatio-temporal data fusion (STDF) for a wireless network composed of sparsely distributed high-mobility nodes. Our algorithm first…
Many interventional surgical procedures rely on medical imaging to visualise and track instruments. Such imaging methods not only need to be real-time capable, but also provide accurate and robust positional information. In ultrasound…
This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…
Widespread adoption of indoor positioning systems based on WiFi fingerprinting is at present hindered by the large efforts required for measurements collection during the offline phase. Two approaches were recently proposed to address such…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable and real-time capable. To this end, we present a novel…
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is…
This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with two Real-Time Kinematic (RTK) Global Positioning System…
An indoor, real-time location system (RTLS) can benefit both hospitals and patients by improving clinical efficiency through data-driven optimization of procedures. Bluetooth-based RTLS systems are cost-effective but lack accuracy and…
Finding the position of the user is an important processing step for augmented reality (AR) applications. This paper investigates the use of different motion models in order to choose the most suitable one, and eventually reduce the Kalman…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
The paper is motivated by the importance of the Smart Cities (SC) concept for future management of global urbanization. Among all Internet of Things (IoT)-based communication technologies, Bluetooth Low Energy (BLE) plays a vital role in…
As positioning solutions integrate multiple components to improve accuracy, the number of parameters that require calibration has increased. This paper studies a calibration-free positioning technique using Wi-Fi ranging and pedestrian dead…
The paper presents a concept of a dynamic accuracy estimation method, in which the localization errors are derived based on the measurement results used by the positioning algorithm. The concept was verified experimentally in a…