Related papers: WiFi-based Global Localization in Large-Scale Envi…
For localization and mapping of indoor environments through WiFi signals, locations are often represented as likelihoods of the received signal strength indicator. In this work we compare various measures of distance between such…
Real-world deployments of WiFi-based indoor localization in large public venues are few and far between as most state-of-the-art solutions require either client or infrastructure-side changes. Hence, even though high location accuracy is…
The rapid increase in utilization of smart home technologies has introduced new paradigms to ensure the security and privacy of inhabitants. In this study, we propose a novel approach to detect and localize physical intrusions in indoor…
Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies…
Wireless localization is essential for tracking objects in indoor environments. Internet of Things (IoT) enables localization through its diverse wireless communication protocols. In this paper, a hybrid section-based indoor localization…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
Global localization is a fundamental capability required for long-term and drift-free robot navigation. However, current methods fail to relocalize when faced with significantly different viewpoints. We present ROMAN (Robust Object Map…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
Ultra-wideband (UWB) technology is a mature technology that contested other wireless technologies in the advent of the IoT but did not achieve the same levels of widespread adoption. In recent years, however, with its potential as a…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
We propose a new approach towards RSS (Received Signal Strength) based wireless localisation for scenarios where, instead of absolute positioning of an object, only the information whether an object is inside or outside of a specific area…
In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA),…
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…
Accurate indoor localization underpins applications ranging from wayfinding and emergency response to asset tracking and smart-building services. Radio-frequency solutions (e.g. Wi-Fi, RFID, UWB) are widely adopted but remain vulnerable to…
Recently, location-based services (LBS) have steered attention to indoor positioning systems (IPS). WLAN-based IPSs relying on received signal strength (RSS) measurements such as fingerprinting are gaining popularity due to proven high…
Location fingerprint (LF) has been widely applied in indoor positioning. However, the existing studies on LF mostly focus on the fingerprint of WiFi below 6 GHz, bluetooth, ultra wideband (UWB), etc. The LF with millimeter-wave (mmWave) was…
Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained…
We present a low complexity experimental RF-based indoor localization system based on the collection and processing of WiFi RSSI signals and processing using a RSS-based multi-lateration algorithm to determine a robotic mobile node's…
Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one…