Related papers: Decentralized Collaborative Inertial Tracking
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
The Internet of Things (IoT) is a paradigm characterized by a network of embedded sensors and services. These sensors are incorporated to collect various information, track physical conditions, e.g., waste bins' status, and exchange data…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
Locating the persons moving through an environment without the necessity of them being equipped with special devices has become vital for many applications including security, IoT, healthcare, etc. Existing device-free indoor localization…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
To be able to measure relevant data for transport infrastructure monitoring and to obtain maintenance indicators in a crowd sensing-based fashion, a set of requirements (both from hardware and software points of view) needs to be satisfied.…
Proximity detection in indoor environments based on WiFi signals has gained significant attention in recent years. Existing works rely on the dynamic signal reflections and their extracted features are dependent on motion strength. To…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
4D mmWave radar sensors are suitable for roadside perception in city-scale Intelligent Transportation Systems (ITS) due to their long sensing range, weatherproof functionality, simple mechanical design, and low manufacturing cost. In this…
A cognitive function of tracking multiple objects, needed in autonomous mobile vehicles, comprises object detection and their temporal association. While great progress owing to machine learning has been recently seen for elaborating the…
Bluetooth is a promising short-range radio network technology. We present a low cost and easily deployed, scalable infrastructure for indoor location-based computing of mobile devices based on Bluetooth technology. The system consists of 2…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
Nowadays, crowd sensing becomes increasingly more popular due to the ubiquitous usage of mobile devices. However, the quality of such human-generated sensory data varies significantly among different users. To better utilize sensory data,…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…
There is an increasing popularity in exploiting modern vehicles as mobile sensors to obtain important road information such as potholes, black ice and road profile. Availability of such information has been identified as a key enabler for…
Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…
With the increasing popularity of GPS-enabled hand-held devices, location-based applications and services have access to accurate and real-time location information, raising serious privacy concerns for their millions of users. Trying to…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…