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Indoor navigation is a difficult task, as it generally comes with poor GPS access, forcing solutions to rely on other sources of information. While significant progress continues to be made in this area, deployment to production…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
Pedestrian heading tracking enables applications in pedestrian navigation, traffic safety, and accessibility. Previous works, using inertial sensor fusion or machine learning, are limited in that they assume the phone is fixed in specific…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Autonomous checkout systems rely on visual and sensory inputs to carry out fine-grained scene understanding in retail environments. Retail environments present unique challenges compared to typical indoor scenes owing to the vast number of…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…
We present a system for online monitoring of maritime activity over streaming positions from numerous vessels sailing at sea. It employs an online tracking module for detecting important changes in the evolving trajectory of each vessel…
Multi-object tracking (MOT) has been dominated by the use of track by detection approaches due to the success of convolutional neural networks (CNNs) on detection in the last decade. As the datasets and bench-marking sites are published,…
This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance,…
To help the blind people walk to the destination efficiently and safely in indoor environment, a novel wearable navigation device is presented in this paper. The locating, way-finding, route following and obstacle avoiding modules are the…
This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and safe trajectories. To facilitate these processes, the motion…
The positioning of users using their smartphones represents interesting service for various areas. Position of users can represent valuable information for various service providers. In industry 4.0 smart devices such as smartphone or…
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
Understanding human behavior is key for robots and intelligent systems that share a space with people. Accordingly, research that enables such systems to perceive, track, learn and predict human behavior as well as to plan and interact with…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
We present RopeTP, a novel framework that combines Robust pose estimation with a diffusion Trajectory Prior to reconstruct global human motion from videos. At the heart of RopeTP is a hierarchical attention mechanism that significantly…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Various applications leverage location data to increase transparency, efficiency, and safety in intralogistics. There are several properties of location data, such as the data's degrees of freedom, system latency, update rate, or accuracy.…