Related papers: Robust Indoor Localization with Ranging-IMU Fusion
Future wireless networks are envisioned to deliver not only gigabit communications but also ubiquitous sensing. Reconfigurable intelligent surfaces (RISs) have emerged to reshape radio propagation, recently showing considerable promise for…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
This paper details a number of indoor localization techniques developed for real-time monitoring of older adults. These were developed within the framework of the i-Light research project that was funded by the European Union. The project…
While it is often critical for indoor-location- and proximity-aware applications to know whether a user is in a space or not (e.g., a specific room or office), a key challenge is that the difference between standing on one side or another…
In this work, we consider the deployment of reconfigurable intelligent surfaces (RISs) to extend the coverage of a millimeter-wave (mmWave) network in indoor dense spaces. We first integrate RIS into ray-tracing simulations to realistically…
This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…
Synchronisation of wireless inertial measurement units in human movement analysis is often achieved using event-based synchronisation techniques. However, these techniques lack precise event generation and accuracy. An inaccurate…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
Indoor localization plays a vital role in the era of the IoT and robotics, with WiFi technology being a prominent choice due to its ubiquity. We present a method for creating WiFi fingerprinting datasets to enhance indoor localization…
Integrating efficient connectivity, positioning and sensing functionalities into 5G New Radio (NR) and beyond mobile cellular systems is one timely research paradigm, especially at mm-wave and sub-THz bands. In this article, we address the…
Tracking and measuring targets using a variety of sensors mounted on UAVs is an effective means to quickly and accurately locate the target. This paper proposes a fusion localization method based on ridge estimation, combining the…
An indoor layout sensing and localization system in 60GHz millimeter wave (mmWave) band, named mmReality, is elaborated in this paper. The mmReality system consists of one transmitter and one mobile receiver, each with a phased array and a…
Accurate wireless localization underpins applications from autonomous systems to smart infrastructure. We study the mean-squared error (MSE) and conditional MSE (CMSE) of a practical fusion-based estimator in d-dimensional, stationary…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
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.…
Multi-modal sensor data fusion takes advantage of complementary or reinforcing information from each sensor and can boost overall performance in applications such as scene classification and target detection. This paper presents a new…
Wireless indoor localization using predictive models with received signal strength information (RSSI) requires proper calibration for reliable position estimates. One remedy is to employ synthetic labels produced by a (generally different)…
Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D…
Robustness in Simultaneous Localization and Mapping (SLAM) remains one of the key challenges for the real-world deployment of autonomous systems. SLAM research has seen significant progress in the last two and a half decades, yet many…