相关论文: Indoor Navigation Algorithm Based on a Smartphone …

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…

We implement a wireless indoor navigation system based on the variational Gaussian process state-space model (GPSSM) with smartphone-collected WiFi received signal strength (RSS) and inertial measurement unit (IMU) readings. We adapt the…

In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…

Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…

In recent years, we have observed a growing interest in Indoor Tracking Systems (ITS) for providing location-based services indoors. This is due to the limitations of Global Navigation and Satellite Systems, which do not operate in…

To help the blind people walk to the destination efficiently and safely in indoor environment, a novel wearable navigation device is presented in this paper. The locating, way-finding, route following and obstacle avoiding modules are the…

The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…

We present DynamicSLAM: an indoor localization technique that eliminates the need for the daunting calibration step. DynamicSLAM is a novel Simultaneous Localization And Mapping (SLAM) framework that iteratively acquires the feature map of…

Data-driven based method for navigation and positioning has absorbed attention in recent years and it outperforms all its competitor methods in terms of accuracy and efficiency. This paper introduces a new architecture called IMUNet which…

This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…

Indoor localization services are a crucial aspect for the realization of smart cyber-physical systems within cities of the future. Such services are poised to reinvent the process of navigation and tracking of people and assets in a variety…

Navigation systems are used daily. While different types of navigation systems exist, inertial navigation systems (INS) have favorable properties for some wearables which, for battery and form factors may not be able to use GPS. Earables…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…

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…

Smartphones are equipped with sensors such as accelerometers, gyroscope, and GPS in one cost-effective device with an acceptable level of accuracy. There have been some research studies carried out in terms of using smartphones to measure…

Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…