Related papers: rWiFiSLAM: Effective WiFi Ranging based SLAM Syste…
Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…
In this paper a low-drift monocular SLAM method is proposed targeting indoor scenarios, where monocular SLAM often fails due to the lack of textured surfaces. Our approach decouples rotation and translation estimation of the tracking…
This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…
Indoor localization systems have become increasingly important in a wide range of applications, including industry, security, logistics, and emergency services. However, the growing demand for accurate localization has heightened concerns…
Location tracking systems are increasingly becoming the focus of research in the field of Wireless Sensor Network (WSN). Received Signal Strength (RSS)-based localization systems are at the forefront of tracking research applications. Radio…
Visual SLAM is essential for mobile robots, drone navigation, and VR/AR, but traditional RGB camera systems struggle in low-light conditions, driving interest in thermal SLAM, which excels in such environments. However, thermal imaging…
Because each indoor site has its own radio propagation characteristics, a site survey process is essential to optimize a Wi-Fi ranging strategy for range-based positioning solutions. This paper studies an unsupervised learning technique…
Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…
Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…
We propose a method for predicting the location of user equipment (UE) using wireless fingerprints in dynamic indoor non-line-of-sight (NLoS) environments. In particular, our method copes with the challenges posed by the drift, birth, and…
Background: Loop closure detection is a crucial part in robot navigation and simultaneous location and mapping (SLAM). Appearance-based loop closure detection still faces many challenges, such as illumination changes, perceptual aliasing…
Proximity detection in indoor environments based on WiFi signals has gained significant attention in recent years. Existing works rely on the dynamic signal reflections and their extracted features are dependent on motion strength. To…
This paper presents a novel method to reduce the scale drift for indoor monocular simultaneous localization and mapping (SLAM). We leverage the prior knowledge that in the indoor environment, the line segments form tight clusters, e.g. many…
Indoor Positioning System (IPS) is a crucial technology that enables medical staff and hospital managements to accurately locate and track persons or assets inside the medical buildings. Among other technologies, Bluetooth Low Energy (BLE)…
The proliferation of wireless localization technologies provides a promising future for serving human beings in indoor scenarios. Their applications include real-time tracking, activity recognition, health care, navigation, emergence…
An accurate room localization system is a powerful tool for providing location-based services. Considering that people spend most of their time indoors, indoor localization systems are becoming increasingly important in designing smart…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
This paper provides a robust, scalable Bluetooth Low-Energy (BLE) based indoor localization solution using commodity hardware. While WiFi-based indoor localization has been widely studied, BLE has emerged a key technology for…
Simultaneous Localization and Mapping (SLAM) plays an important role in outdoor and indoor applications ranging from autonomous driving to indoor robotics. Outdoor SLAM has been widely used with the assistance of LiDAR or GPS. For indoor…
Industrial wireless sensor networks are becoming crucial for modern manufacturing. If the sensors in those networks are mobile, the position information, besides the sensor data itself, can be of high relevance. E.g. this position…