相关论文: Addressing Relative Pose Impact on UWB Localizatio…

In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…

Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…

In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D…

In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

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…

The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…

Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…

Previous evaluations on 6DoF object pose tracking have presented obvious limitations along with the development of this area. In particular, the evaluation protocols are not unified for different methods, the widely-used YCBV dataset…

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…

This paper provides an overview of the current challenges in wireless audio transmission and highlights the limitations of existing technologies regarding data bandwidth, data compression, latency, and inter-device compatibility. To address…

This study presents the progress of our recent research regarding wireless measurements of the human body. First, we explain radar imaging algorithms for screening passengers at security checkpoints that can process data faster than…

Visual tracking is fragile in some difficult scenarios, for instance, appearance ambiguity and variation, occlusion can easily degrade most of visual trackers to some extent. In this paper, visual tracking is empowered with wireless…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their…

Advanced real-time location systems (RTLS) allow for collecting spatio-temporal data from human movement behaviours. Tracking individuals in small areas such as schoolyards or nursing homes might impose difficulties for RTLS in terms of…

Despite researchers having extensively studied various ways to track body pose on-the-go, most prior work does not take into account wheelchair users, leading to poor tracking performance. Wheelchair users could greatly benefit from this…

Ultra-wideband (UWB) devices are widely used in indoor localization scenarios. Single-anchor UWB localization shows advantages because of its simple system setup compared to conventional two-way ranging (TWR) and trilateration localization…

We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…

In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified…