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This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
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,…
Many interventional surgical procedures rely on medical imaging to visualise and track instruments. Such imaging methods not only need to be real-time capable, but also provide accurate and robust positional information. In ultrasound…
Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
For multi-target tracking, target representation plays a crucial rule in performance. State-of-the-art approaches rely on the deep learning-based visual representation that gives an optimal performance at the cost of high computational…
Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry systems yet pose a high computational cost and suffer from…
Accurate estimation and prediction of trajectory is essential for the capture of any high speed target. In this paper, an extended Kalman filter (EKF) is used to track the target in the first loop of the trajectory to collect data points…
Extended object tracking involves estimating both the physical extent and kinematic parameters of a target object, where typically multiple measurements are observed per time step. In this article, we propose a deterministic closed-form…
In this article, we design a new time-of-arrival (TOA) system for simultaneous user device (UD) localization and synchronization with a periodic asymmetric ranging network, namely PARN. The PARN includes one primary anchor node (PAN)…
Today's railway signalling system heavily relies on trackside infrastructure such as axle counters and track balises. This system has proven itself to be reliable, however, it is not very efficient and, moreover, very costly. Thus, it is…
There has been a growing interest in autonomous systems designed to operate in adverse conditions (e.g. smoke, dust), where the visible light spectrum fails. In this context, Ultra-wideband (UWB) radar is capable of penetrating through such…
Device-free (DF) localization in WLANs has been introduced as a value-added service that allows tracking indoor entities that do not carry any devices. Previous work in DF WLAN localization focused on the tracking of a single entity due to…
Location awareness is now becoming a vital requirement for many practical applications. In this paper, we consider passive localization of multiple targets with one transmitter and several receivers based on time of arrival (TOA)…
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…
We present an alternative implementation of the Kalman filter employed for track fitting within the LHCb experiment. It uses simple parametrizations for the extrapolation of particle trajectories in the field of the LHCb dipole magnet and…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…
In this work, a system scheme is proposed for tracking a radio emitting target moving in two-dimensional space. The localization is based on the use of biased time-of-arrival (TOA) measurements obtained at two asynchronous receivers, each…
Passive source localization is often performed using time difference of arrival (TDOA) measurements, frequency difference of arrival (FDOA) measurements, direction of arrival (DOA) measurements, or a combination of all of these. For a…