相关论文: Soft Multipath Information-Based UWB Tracking in C…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
Ultra wideband technology has shown great promise for providing high-quality location estimation, even in complex indoor multipath environments, but existing ultra wideband systems require tens to hundreds of milliwatts during operation.…
Tracking multiple particles in noisy and cluttered scenes remains challenging due to a combinatorial explosion of trajectory hypotheses, which scales super-exponentially with the number of particles and frames. The transformer architecture…
Ultrawideband (UWB) technology has attracted a lot of attention for indoor and outdoor positioning systems due to its high accuracy and robustness in non-line-of-sight (NLOS) environments. However, UWB signals are affected by multipath…
This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…
Guided ultrasonic wave localization uses spatially distributed multistatic sensor arrays and generalized beamforming strategies to detect and locate damage across a structure. The propagation channel is often very complex. Methods can…
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they carry a specific devices with them. To achieve this "device…
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…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
In future wireless communication networks, existing active localization will gradually evolve into more sophisticated (passive) sensing functionalities. One main enabler for this process is the merging of information collected from the…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
The problem of mobile position estimation in multipath scenarios is addressed. A low-complexity, fully-adaptive algorithm is proposed, based on the pseudo maximum likelihood approach. The processing is done exclusively on-board at the…
Fingerprint-based passive localization enables high localization accuracy using low-cost UWB IoT radio sensors. However, fingerprinting demands extensive effort for data acquisition. The concept of channel charting reduces this effort by…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…
Robust tracking of a target in a clutter environment is an important and challenging task. In recent years, the nearest neighbor methods and probabilistic data association filters were proposed. However, the performance of these methods…
We examined UWB-based indoor location in conjunction with a fingerprint technique in this work. We built a connection between the measured and real distances for the UWB indoor positioning system. This connection is used to produce a…