Related papers: Fast Localization and Tracking in City-Scale UWB N…
This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite Systems (GNSS) typically perform poorly in urban environments, where the likelihood of line-of-sight conditions…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
With the recent development of technology, wireless sensor networks are becoming an important part of many applications such as health and medical applications, military applications, agriculture monitoring, home and office applications,…
The localization problem in a wireless sensor network is to determine the coordination of sensor nodes using the known positions of some nodes (called anchors) and corresponding noisy distance measurements. There is a variety of different…
3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…
Accurate and reliable localization is crucial for various wireless communication applications. Numerous studies have proposed accurate localization methods using hybrid received signal strength (RSS) and angle of arrival (AOA) measurements.…
Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…
This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…
Accurate and ubiquitous localization is crucial for a variety of applications such as logistics, navigation, intelligent transport, monitoring, control, and also for the benefit of communications. Exploiting millimeter-wave (mmWave) signals…
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…
Global Navigation Satellite Systems typically perform poorly in urban environments, where the likelihood of line-of-sight conditions between devices and satellites is low. Therefore, alternative location methods are required to achieve good…
We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival (AOA) pair. The proposed method employs…