相关论文: Crowdsourced Smartphone Sensing for Localization i…
In this paper we introduce the idea of estimating local topology in wireless networks by means of crowdsourced user reports. In this approach each user periodically reports to the serving basestation information about the set of…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Mobile crowdsensing allows a large number of mobile devices to measure phenomena of common interests and form a body of knowledge about natural and social environments. In order to get location annotations for indoor mobile crowdsensing,…
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans.…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all…
Localization is a key component of the wireless ecosystem. Machine learning (ML)-based localization using channel state information (CSI) is one of the most popular methods for achieving high-accuracy localization with low cost. However, to…
In this letter, we introduce GroundLoc, a LiDAR-only localization pipeline designed to localize a mobile robot in large-scale outdoor environments using prior maps. GroundLoc employs a Bird's-Eye View (BEV) image projection focusing on the…
The roll-out phase of the next generation of mobile networks (5G) has started and operators are required to devise deployment solutions while pursuing localization accuracy maximization. Enabling location-based services is expected to be a…
Recent years have witnessed fast growth in outdoor location-based services. While GPS is considered a ubiquitous localization system, it is not supported by low-end phones, requires direct line of sight to the satellites, and can drain the…
The existence of a worldwide indoor floorplans database can lead to significant growth in location-based applications, especially for indoor environments. In this paper, we present CrowdInside: a crowdsourcing-based system for the automatic…
Location fingerprinting locates devices based on pattern matching signal observations to a pre-defined signal map. This paper introduces a technique to enable fast signal map creation given a dedicated surveyor with a smartphone and…
Accurate localization of mobile terminals is a pivotal aspect of integrated sensing and communication systems. Traditional fingerprint-based localization methods, which infer coordinates from channel information within pre-set rectangular…
We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…
This paper presents a nonlinear location estimation to infer the position of a user holding a smartphone. We consider a large location with $M$ number of grid points, each grid point is labeled with a unique fingerprint consisting of the…
Indoor localization is a cornerstone of mobile services. Until now most of the research effort has focused on achieving sub-meter localization accuracy because many mobile applications depend on precise localization measurements. In some…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
Channel state information (CSI) based fingerprinting for WIFI indoor localization has attracted lots of attention very recently.The frequency diverse and temporally stable CSI better represents the location dependent channel characteristics…
Device-free (DF) localization in WLANs has been introduced as a value-added service that allows tracking indoor entities that do not carry any devices. Previous work in DF WLAN localization focused on the tracking of a single entity due to…
Device-free Wi-Fi sensing has numerous benefits in practical settings, as it eliminates the requirement for dedicated sensing devices and can be accomplished using current low-cost Wi-Fi devices. With the development of Wi-Fi standards,…