相关论文: Kalman filter based localization in hybrid BLE-UWB…

This paper advances the field of pedestrian localization by introducing a unifying framework for opportunistic positioning based on nonlinear factor graph optimization. While many existing approaches assume constant availability of one or…

We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…

As an emerging technology with exceptional low energy consumption and low-latency data transmissions, Bluetooth Low Energy (BLE) has gained significant momentum in various application domains, such as Indoor Positioning, Home Automation,…

We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…

Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…

This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…

Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…

Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…

With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…

Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization…

This paper considers the problem of ground user localization based on received signal strength (RSS) measurements obtained by an unmanned aerial vehicle (UAV). We treat UAV-user link channel model parameters and antenna radiation pattern of…

This paper studies the use of directional antennas for received signal strength difference (RSSD) based localization using ultra-wideband and demonstrates the achievable accuracy with this localization method applied to UWB. As introduced…

In this paper, to synchronize Ultra Wideband (UWB) systems in ad-hoc multi-user environments, we propose a new timing acquisition approach for achieving a good performance despite the difficulties to get there. Synchronization constraints…

Systems for relative localization in multi-robot systems based on ultra-wideband (UWB) ranging have recently emerged as robust solutions for GNSS-denied environments. Scalability remains one of the key challenges, particularly in ad-hoc…

It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…

Recent advancements in Internet of Things (IoTs) have brought about a surge of interest in indoor positioning for the purpose of providing reliable, accurate, and energy-efficient indoor navigation/localization systems. Ultra Wide Band…

This paper provides a robust, scalable Bluetooth Low-Energy (BLE) based indoor localization solution using commodity hardware. While WiFi-based indoor localization has been widely studied, BLE has emerged a key technology for…

For many years, there has been an impressive progress on visual odometry applied to mobile robots and drones. However, the visual perception is still in the spotlight as a challenging field because the vision sensor has some problems in…

Indoor localization systems are most commonly based on Received Signal Strength Indicator (RSSI) measurements of either WiFi or Bluetooth-Low-Energy (BLE) beacons. In such systems, the two most common techniques are trilateration and…

In this paper, we exploit the 3D-beamforming features of multiantenna equipment employed in fifth generation (5G) networks, operating in the millimeter wave (mmW) band, for accurate positioning and tracking of users. We consider sequential…