Related papers: Soft Multipath Information-Based UWB Tracking in C…
Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…
We present a comprehensive neural architecture, the PUREPath, which leverages a nested Probabilistic multi-modal U- Net framework, augmented by the inclusion of probabilistic ResNet blocks in the Expanding Pathway of the decoders, to…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising…
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets,…
An ultra-wide bandwidth (UWB) remote-powered positioning system for potential use in tracking floating objects inside space stations is presented. It makes use of battery-less tags that are powered-up and addressed through wireless power…
5G mmWave technology can turn multipath into a friend, as multipath components become highly resolvable in the time and angle domains. Multipath signals have not only been used in the literature to position the user equipment (UE) but also…
Multi-object tracking (MOT) methods have seen a significant boost in performance recently, due to strong interest from the research community and steadily improving object detection methods. The majority of tracking methods follow the…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Precise indoor localization of moving targets is a challenging activity which cannot be easily accomplished without combining different sources of information. In this sense, the combination of different data sources with an appropriate…
Ultra-wideband positioning systems intended for indoor applications often work in non-line of sight conditions, which result in insufficient precision and accuracy of derived localizations. One of the possible solutions is the…
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…
Ultra-wideband (UWB) localization delivers centimeter-scale accuracy but is vulnerable to jamming attacks, creating security risks for asset tracking and intrusion detection in smart buildings. Although machine learning (ML) and deep…
This work estimates the position and the transmit power of multiple co-channel wireless transmitters under model uncertainties. The model uncertainties include the number of the targets and the parameters of the path-loss model which enable…
In the Wireless Localization Matching Problem (WLMP) the challenge is to match pieces of equipment with a set of candidate locations based on wireless signal measurements taken by the pieces of equipment. This challenge is complicated by…
In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state…
Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…