Related papers: rWiFiSLAM: Effective WiFi Ranging based SLAM Syste…
Indoor localization becomes a raising demand in our daily lives. Due to the massive deployment in the indoor environment nowadays, WiFi systems have been applied to high accurate localization recently. Although the traditional model based…
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…
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 Global Navigation Satellite Systems (GNSS) like GPS suffer from accuracy degradation and are almost unavailable in indoor environments. Indoor positioning systems (IPS) based on WiFi signals have been gaining popularity. However, owing…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion…
We present DynamicSLAM: an indoor localization technique that eliminates the need for the daunting calibration step. DynamicSLAM is a novel Simultaneous Localization And Mapping (SLAM) framework that iteratively acquires the feature map of…
Conventional Wi-Fi received signal strength indicator (RSSI) fingerprinting cannot meet the growing demand for accurate indoor localization and navigation due to its lower accuracy, while solutions based on light detection and ranging…
Simultaneous localization and mapping (SLAM) has been richly researched in past years particularly with regard to range-based or visual-based sensors. Instead of deploying dedicated devices that use visual features, it is more pragmatic to…
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…
Indoor positioning plays a pivotal role in a wide range of applications, from smart homes to industrial automation. In this paper, we propose a comprehensive approach for accurate positioning in indoor environments through the integration…
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…
This paper considers indoor localization using multi-modal wireless signals including Wi-Fi, inertial measurement unit (IMU), and ultra-wideband (UWB). By formulating the localization as a multi-modal sequence regression problem, a…
Foot-mounted inertial positioning (FMIP) can face problems of inertial drifts and unknown initial states in real applications, which renders the estimated trajectories inaccurate and not obtained in a well defined coordinate system for…
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…
In this work, we propose a lightweight integrated LiDAR-Inertial SLAM system with high efficiency and a great loop closure capacity. We found that the current State-of-the-art LiDAR-Inertial SLAM system has poor performance in loop closure.…
In recent years, there has been an increasing number of information technologies utilized in buildings to advance the idea of "smart buildings". Among various potential techniques, the use of Wi-Fi based indoor positioning allows to locate…
Indoor localization is the process of determining the location of a person or object inside a building. Potential usage of indoor localization includes navigation, personalization, safety and security, and asset tracking. Commonly used…