Related papers: Multi-Robot Relative Pose Estimation and IMU Prein…
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…
Due to its high delay resolution, the ultra-wideband (UWB) technique has been widely adopted for fine-grained indoor localization. Instead of active positioning, UWB radar-based passive human tracking is explored using commercial…
To enhance the positioning and tracking performance of dynamic user equipment (UE) in wideband millimeter-wave (mmWave) systems, we propose a novel positioning error lower bound (PELB)-driven ping-pong positioning framework, where the base…
Propagation of UWB Gaussian signal in a model of automated collaborative warehouse is analyzed using ray tracing method. The transmitting antenna is placed on the human body while the received power profiles in warehouse containing empty…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…
The idea of ultra-wideband (UWB) communications for short ranges (up to a few tens of meters) has been around for nearly three decades. However, despite significant efforts by the industry, UWB deployment has not yet reached its predicted…
Short Range wireless devices are becoming more and more popular for ubiquitous sensor and actuator connectivity in industrial communication scenarios. Apart from communication-only scenarios, there are also mission-critical use cases where…
Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…
Recognizing movements during sleep is crucial for the monitoring of patients with sleep disorders, and the utilization of ultra-wideband (UWB) radar for the classification of human sleep postures has not been explored widely. This study…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
Continuously optimizing sensor placement is essential for precise target localization in various military and civilian applications. While information theory has shown promise in optimizing sensor placement, many studies oversimplify sensor…
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
A robust pose estimation algorithm based on an extended Kalman filter using measurements from accelerometers, rate gyroscopes, monocular vision and ultra-wideband radar is presented. The sensor fusion and pose estimation algorithm…
Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and…
Recently, filter bank multi-carrier spread spectrum (FBMC-SS) technology has been proposed for use in ultra-wideband (UWB) communication systems. It has been noted that, due to the spectral partitioning properties of the filter banks, a UWB…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
Traditional exteroceptive sensors in mobile robots, such as LiDARs and cameras often struggle to perceive the environment in poor visibility conditions. Recently, radar technologies, such as ultra-wideband (UWB) have emerged as potential…
The paper presents a comparison of performance of two Kalman Filters: extended Kalman filter (EKF) and unscented Kalman filter (UKF) in a hybrid Bluetooth-Low-Energy-ultra-wideband (BLE-UWB) based localization system. In the system, the…
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they carry a specific devices with them. To achieve this "device…