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Indoor localization systems face a fundamental trade-off between efficiency and responsiveness, which is especially important for emerging use cases such as mobile robots operating in GPS-denied environments. Traditional RTLS either require…
Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
Precise localization is one key element of the Internet of Things (IoT). Especially concepts for position estimation when Global Navigation Satellite Systems (GNSS) are unavailable have moved into the focus. One crucial component for…
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,…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
In this work, the problem of localizing ground devices (GDs) is studied comparing the performance of four range-free (RF) localization algorithms that use a mobile anchor (MA). All the investigated algorithms are based on the so-called…
Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
The use of aerial anchors for localizing terrestrial nodes has recently been recognized as a cost-effective, swift and flexible solution for better localization accuracy, providing localization services when the GPS is jammed or satellite…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
Internet of Things (IoT) applications are increasingly reliant on indoor positioning systems to deliver precise and reliable navigation in GNSS-denied environments, including urban areas, smart warehouses, hospitals, and underground or…
We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the…
Precise localization and tracking of moving non-collaborative persons and objects using a network of ultra-wideband (UWB) radar nodes has been shown to represent a practical and effective approach. In UWB radar sensor networks (RSNs),…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO system. An inconsistent estimator can degrade localization…
This paper considers target tracking based on a beacon signal's time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance…
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due…
High time resolution of ultra wideband (UWB) signals facilitates very precise positioning capabilities based on time-of-arrival (TOA) measurements. Although the theoretical lower bound for TOA estimation can be achieved by the maximum…
Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight…
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…