Related papers: Decentralized Collaborative Inertial Tracking
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
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…
There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. Outdoor positioning systems have been deployed quite successfully using GPS but positioning…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Traffic management in a city has become a major problem due to the increasing number of vehicles on roads. Intelligent Transportation System (ITS) can help the city traffic managers to tackle the problem by providing accurate traffic…
Pedestrian dead-reckoning (PDR) is a potential indoor localization technology that obtains location estimation with the inertial measurement unit (IMU). However, one of its most significant drawbacks is the accumulation of its measurement…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…
We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…
We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fly independently, and exchange data when possible to refine…
Pedestrian Indoor localization based on modalities available in modern smartphones have been widely studied in literature and many of the specific challenges have been addressed. However, very few approaches consider the whole problem and…
Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little attention has been paid toward advancing the underlying…
We propose a Bayesian method for distributed sequential localization of mobile networks composed of both cooperative agents and noncooperative objects. Our method provides a consistent combination of cooperative self-localization (CS) and…
Spatial navigation of indoor space usage patterns reveals important cues about the cognitive health of individuals. In this work, we present a low-cost, scalable, open-source edge computing system using Bluetooth Low Energy (BLE) and…
An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…
The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Numerous indoor localization techniques have been proposed recently to meet the intensive demand for location based service, and Wi-Fi fingerprint-based approaches are the most popular and inexpensive solutions. Among them, one of the main…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
Tracking movement of mobile nodes has received significant scientific and commercial interest, but long term tracking of resource-constrained mobile nodes remains challenging due to the high energy consumption of satellite receivers.…