相关论文: High Precision Positioning System
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…
The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on…
Autonomous driving systems must operate smoothly in human-populated indoor environments, where challenges arise including limited perception and occlusions when relying only on onboard sensors, as well as the need for socially compliant…
This paper presents a new information source for supporting robot localisation: material composition. The proposed method complements the existing visual, structural, and semantic cues utilized in the literature. However, it has a distinct…
The ability to localise a smart device is very useful to visually or cognitively impaired people. Localisation-capable technologies are becoming more readily available as off-the-shelf components. In this paper, we highlight the need for…
Photonic integrated circuits (PICs) are enabling major breakthroughs in a number of areas, including quantum computing, neuromorphic processors, wearable devices, and more. Nevertheless, existing PIC measurement methods lack the spectral…
We provide a simple method and relevant theoretical analysis for efficiently estimating higher-order lp distances. While the analysis mainly focuses on l4, our methodology extends naturally to p = 6,8,10..., (i.e., when p is even).…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
A mega-constellation of low-earth orbit (LEO) satellites has the potential to enable long-range communication with low latency. Integrating this with burgeoning unmanned aerial vehicle (UAV) assisted non-terrestrial networks will be a…
In the PANDA experiment's hypernuclear and hyperatom setup, a positioning system for the primary production target is required, which will be located in the center of the solenoid magnet, in ultra-high vacuum, and exposed to high radiation…
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…
Low Earth orbit (LEO) satellites offer a promising alternative to global navigation satellite systems for precise positioning; however, their relatively low altitudes make them more susceptible to orbital perturbations, which in turn…
With a significant increase in area throughput, Massive MIMO has become an enabling technology for fifth generation (5G) wireless mobile communication systems. Although prototypes were built, an openly available dataset for channel impulse…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
Multiple reflections between transducer and imaged object can naturally occur in ultrasound imaging and other acoustic sensing applications such as sonar. The repeated interaction of the emitted wavefront with the imaged object is…
In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…
Channel sounding is a vital step in understanding wireless channels for the design and deployment of wireless communication systems. In this paper, we present the design and implementation of a coherent distributed massive MIMO channel…
Trajectory optimization is the core of modern model-based robotic control and motion planning. Existing trajectory optimizers, based on sequential quadratic programming (SQP) or differential dynamic programming (DDP), are often limited by…