相关论文: Benchmarking ML Approaches to UWB-Based Range-Only…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
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…
Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…
State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
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,…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Recognizing movements during sleep is crucial for the monitoring of patients with sleep disorders, and the utilization of ultra-wideband (UWB) radar for the classification of human sleep postures has not been explored widely. This study…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…
As commercial interest in proximity services increased, the development of various wireless localization techniques was promoted. In line with this trend, Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity…
Ultra-wideband (UWB) through-wall radar has a wide range of applications in non-contact human information detection and monitoring. With the integration of machine learning technology, its potential prospects include the physiological…
Human pose estimation aims to locate the human body parts and build human body representation (e.g., body skeleton) from input data such as images and videos. It has drawn increasing attention during the past decade and has been utilized in…
The high time resolution of ultra-wideband (UWB) signals facilitates very precise position estimation in many scenarios, which makes a variety applications possible. This paper reviews the problem of position estimation in UWB systems,…
The ability to track a user's arm pose could be valuable in a wide range of applications, including fitness, rehabilitation, augmented reality input, life logging, and context-aware assistants. Unfortunately, this capability is not readily…
Human pose estimation aims at localizing human anatomical keypoints or body parts in the input data (e.g., images, videos, or signals). It forms a crucial component in enabling machines to have an insightful understanding of the behaviors…