相关论文: Soft Multipath Information-Based UWB Tracking in C…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
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…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
In this paper, we present an iterative algorithm that detects and estimates the specular components and estimates the diffuse component of single-input-multiple-output (SIMO) ultra-wide-band (UWB) multipath channels. Specifically, the…
In this paper some new experimental results about the statistical characterization of the non-line-of-sight (NLOS) bias affecting time-of-arrival (TOA) estimation in ultrawideband (UWB) wireless localization systems are illustrated. Then,…
Ultra-Wideband (UWB) technology re-emerges as a groundbreaking ranging technology with its precise micro-location capabilities and robustness. This paper highlights the security dimensions of UWB technology, focusing in particular on the…
We propose a distributed joint localization and tracking algorithm using a message passing framework, for multiple-input multiple-output radars. We employ the mean field approach to derive an iterative algorithm. The obtained algorithm…
Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…
We propose a metric called the bistatic radar detection coverage probability to evaluate the detection performance of a bistatic radar under discrete clutter conditions. Such conditions are commonly encountered in indoor and outdoor…
In the next generation of wireless systems, Massive MIMO offers high angular resolution for localization. By virtue of large number of antennas, the Angle of Arrival (AoA) of User Terminals (UTs) can be estimated with high accuracy.…
This work addresses the problem of range-Doppler multiple target detection in a radar system in the presence of slow-time correlated and heavy-tailed distributed clutter. Conventional target detection algorithms assume Gaussian-distributed…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…
Non-invasive detection of objects embedded inside an optically scattering medium is essential for numerous applications in engineering and sciences. However, in most applications light at visible or near-infrared wavebands is scattered by…
Propagation in non-line-of-sight (NLOS) conditions is one of the major impairments in ultrawideband (UWB) wireless localization systems based on time-of-arrival (TOA) measurements. In this paper the problem of the joint statistical…
Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into…
We study the multichannel quickest change detection problem with bandit feedback and controlled sensing, in which an agent sequentially selects one of the data streams to observe at each time-step and aims to detect an unknown change as…
Traditional ultrasound simulation methods solve wave equations numerically, achieving high accuracy but at substantial computational cost. Faster alternatives based on convolution with precomputed impulse responses remain relatively slow,…
High time resolution of ultra wideband (UWB) signals facilitates very precise positioning capabilities based on time-of-arrival (TOA) measurements. Although the theoretical lower bound for TOA estimation can be achieved by the maximum…
This paper deals with multipath-based positioning and tracking in off-body channels. An analysis of the effects introduced by the human body and the implications on positioning and tracking is presented based on channel measurements…