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

Inertial sensing is used in many applications and platforms, ranging from day-to-day devices such as smartphones to very complex ones such as autonomous vehicles. In recent years, the development of machine learning and deep learning…

Tracking locations is practical and speditive with smartphones, as they are omnipresent devices, relatively cheap, and have the necessary sensors for positioning and networking integrated in the same box. Nowadays recent models have GNSS…

We present a novel underwater system that can perform acoustic ranging between commodity smartphones. To achieve this, we design a real-time underwater ranging protocol that computes the time-of-flight between smartphones. To address the…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…

Small mobile robots are an important class of Search and Rescue Robots. Integrating all required components into such small robots is a difficult engineering task. Smartphones have already been made small, lightweight and cheap by the…

With the widespread adoption of smartphones, ensuring pedestrian safety on roads has become a critical concern due to smartphone distraction. This paper proposes a novel and real-time assistance system called UWB-assisted Safe Walk (UASW)…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

Pedestrian inertial localization is key for mobile and IoT services because it provides infrastructure-free positioning. Yet most learning-based methods depend on fixed sliding-window integration, struggle to adapt to diverse motion scales…

Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to…

We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then…

We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…

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…

A smartphone-based user mobility tracking could be effective in finding his/her location, while the unpredictable error therein due to low specification of built-in inertial measurement units (IMUs) rejects its standalone usage but demands…

We present a change-blindness based redirected walking algorithm that allows a user to explore on foot a virtual indoor environment consisting of an infinite number of rooms while at the same time ensuring collision-free walking for the…

Foot-mounted inertial positioning (FMIP) and fingerprinting based WiFi indoor positioning (FWIP) are two promising solutions for indoor positioning. However, FMIP suffers from accumulative positioning errors in the long term while FWIP…

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…

The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying to mitigate both theoretical and algorithmic defects. In…

With the growth of using cell phones and the increase in diversity of smart mobile devices, a massive volume of data is generated continuously in the process of using these devices. Among these data, Call Detail Records, CDR, is highly…

Low-cost inertial navigation sensors (INS) can be exploited for a reliable tracking solution for autonomous vehicles. However, position errors grow exponentially due to noises in the measurements. Several deep learning techniques have been…