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3D Point Cloud-based Indoor Mobile Robot in 6-DoF Pose Localization using a Wi-Fi-Aided Localization System

Mingcong Shu, Guoliang Chen, Zhenghua Zhang
2021 IEEE Access  
This paper proposes a robust and efficient method that uses multimodal information (vision and Wi-Fi signal information) to estimate the 6-DoF pose of an RGBD camera on a robot with respect to complex  ...  and similar performance to state-of-the-art methods.  ...  Badino and Kanade [27] proposed an approach that fuses LiDAR and image data with a particle filter framework to realize long-term place recognition.  ... 
doi:10.1109/access.2021.3060760 fatcat:w43azhmuwzatzonl5ayrej3zpa

Self-Localization with RFID snapshots in densely tagged environments

P. Vorst, S. Schneegans, Bin Yang, A. Zell
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This method interprets short series of RFID measurements as feature vectors and is able to position a mobile robot after a training phase.  ...  In this paper we show that, despite some disadvantageous properties of radio frequency identification (RFID), it is possible to localize a mobile robot quite accurately in environments which are densely  ...  In this way, particle filtering enables a robot both to localize itself globally and to track its position over time.  ... 
doi:10.1109/iros.2008.4650715 dblp:conf/iros/VorstSYZ08 fatcat:2avuictrszczflxqrv2rz5r3wu

A Survey of Smartphone-Based Indoor Positioning System Using RF-Based Wireless Technologies

Santosh Subedi, Jae-Young Pyun
2020 Sensors  
As fingerprinting localization is mostly accepted for IPS development owing to its good localization accuracy, we discuss fingerprinting localization in detail.  ...  This paper provides an overview of the available smartphone-based indoor localization solutions that rely on radio frequency technologies.  ...  Here, BLE's proximity provides coarse localization, and for fine localization, a selected set of RPs is used with Wi-Fi fingerprint datasets.  ... 
doi:10.3390/s20247230 pmid:33348701 fatcat:7fliqbls5vbszocbnfzeaax6ce

Magnetic-Assisted Initialization for Infrastructure-free Mobile Robot Localization [article]

Zhenyu Wu, Mingxing Wen, Guohao Peng, Xiaoyu Tang, Danwei Wang
2019 arXiv   pre-print
The proposed system adopts a coarse-to-fine structure, which mainly consists of two parts: magnetic field-based matching and laser scan matching.  ...  Next, with the fusion of prior initial pose information, the robot is localized by laser scan matching more accurately and efficiently.  ...  Fine Localization: Laser Scan Matching For the fine localization part, the laser scan matching method is mainly composed of three parts: Local 2-D SLAM, Global Loop Closure, and Localization.  ... 
arXiv:1911.09313v1 fatcat:say5e6wjmja3bcenvy4g732tku

Review of Indoor Positioning: Radio Wave Technology

Tan Kim Geok, Khaing Zar Aung, Moe Sandar Aung, Min Thu Soe, Azlan Abdaziz, Chia Pao Liew, Ferdous Hossain, Chih P. Tso, Wong Hin Yong
2020 Applied Sciences  
Different techniques have been used in indoor localization services (ILSs) in order to solve particular issues, such as multipath environments, the energy inefficiency of long-term battery usage, intensive  ...  This paper presents a comprehensive review on the positioning algorithms for indoors, based on advances reported in radio wave, infrared, visible light, sound, and magnetic field technologies.  ...  It is implemented by using a Rao-Blackwellized particle filter (RBPF) to follow the user's trajectory and relative map.  ... 
doi:10.3390/app11010279 fatcat:le6p5l7gebftndyiirslmgdx5a

Non-intrusive localization of passive RFID tagged objects in an indoor workplace

Siddika Parlak, Ivan Marsic
2011 2011 IEEE International Conference on RFID-Technologies and Applications  
We also propose a combined coarse-to-fine approach to improve accuracy and increase speed.  ...  We use zonebased and exact localization methods incorporating probabilistic and deterministic machine learning techniques.  ...  A two-layer localization algorithm was proposed in [6] , where an SVM classifier is used for coarse localization first and the traditional particle-filtering algorithm is used for finergrained localization  ... 
doi:10.1109/rfid-ta.2011.6068635 dblp:conf/rfidta/ParlakM11 fatcat:dxmkkc6dzzfzvlzqwv524rgfim

Crowd-sensing Simultaneous Localization and Radio Fingerprint Mapping based on Probabilistic Similarity Models [article]

Ran Liu, Sumudu Hasala Marakkalage, Madhushanka Padmal, Thiruketheeswaran Shaganan, Chau Yuen, Yong Liang Guan, U-Xuan Tan
2019 arXiv   pre-print
In this paper, we present a novel approach for crowd-sensing simultaneous localization and radio fingerprint mapping (C-SLAM-RF) in large unknown indoor environments.  ...  Instead of deploying dedicated devices that use visual features, it is more pragmatic to exploit the radio features to achieve this task, due to their ubiquitous nature and the wide deployment of Wifi  ...  These techniques use a Gaussian process to model the magnetic field intensity and a particle filtering to estimate the pose of mobile robot [20] .  ... 
arXiv:1904.11712v1 fatcat:gxxcu3kvkfblxlicoyrpscqfa4

Improvement Schemes for Indoor Mobile Location Estimation: A Survey

Jianga Shang, Xuke Hu, Fuqiang Gu, Di Wang, Shengsheng Yu
2015 Mathematical Problems in Engineering  
This is followed by a discussion of probabilistic methods for location estimation, including Bayes filters, Kalman filters, extended Kalman filters, sigma-point Kalman filters, particle filters, and hidden  ...  A lot of research has been done to address this issue. However, existing research typically focuses on certain aspects of the problem and specific methods.  ...  It used a fine-grained grid model to represent the state space of robots and divides the indoor space into regular 3D grids (10 cm-40 cm).  ... 
doi:10.1155/2015/397298 fatcat:67fvtsekhfe5xdtc5v7norzrse

IPIN 2018 Ninth International Conference on Indoor Positioning and Indoor Navigation

2018 2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN)  
Key words: Localization, SLAM, Particle Filtering, Nonlinear Filtering, Probability and Statistical Methods, Range Sensing, Radio-Inertial Localization and Tracking In this paper, we develop a system for  ...  Typically this inverse problem is solved using an empirical model that relates the RSS to location of the sensors and person, and utilizing either an imaging method or a particle filter (PF) for positioning  ...  Especially in device-free localization systems, recording of reference measurements for fingerprinting is a tedious, costly, and error-prone task.  ... 
doi:10.1109/ipin.2018.8533737 fatcat:rv5zjhjytjaijcqgvvvpmbfjfa

RSS-Based Wireless LAN Indoor Localization and Tracking Using Deep Architectures

Muhammed Zahid Karakusak, Hasan Kivrak, Hasan Fehmi Ates, Mehmet Kemal Ozdemir
2022 Big Data and Cognitive Computing  
The aim of this work is to develop deep learning-based approaches for indoor localization and tracking by utilizing Received Signal Strength (RSS).  ...  Wireless Local Area Network (WLAN) positioning is a challenging task indoors due to environmental constraints and the unpredictable behavior of signal propagation, even at a fixed location.  ...  ] , nonparametric Particle filter [47] [48] [49] , and NI filter [37] .  ... 
doi:10.3390/bdcc6030084 fatcat:uronlzus7vgathl7rtyuw6cwmu

Wi-Fi Fingerprint-Based Indoor Positioning: Recent Advances and Comparisons

Suining He, S.-H. Gary Chan
2016 IEEE Communications Surveys and Tutorials  
Regarding advanced techniques to localize users, we present how to make use of temporal or spatial signal patterns, user collaboration, and motion sensors.  ...  This survey overviews recent advances on two major areas of Wi-Fi fingerprint localization: advanced localization techniques and efficient system deployment.  ...  Using a hierarchal structure, UMLI first classifies the unlabeled fingerprints to the corresponding rooms. Then based on the coarse location result, it conducts further fine-grained localization.  ... 
doi:10.1109/comst.2015.2464084 fatcat:vgqxvxzrl5ddte7xi4x4rnd5oa

Particle Filtering-Based Indoor Positioning System for Beacon Tag Tracking

Yiwen Shen, Beom Hwang, Jaehoon Jeong
2020 IEEE Access  
The authors thank Bien Aime Mugabarigira and Xiaohong Yu for helping the collection of the experiment data.  ...  DLoc uses a CSI-based AoA and ToF combined method to localize a target.  ...  PRELIMINARY Our system uses a KF to preprocess received RSSI data and a particle filter to localize targets. In this section, we briefly introduce the Kalman and particle filtering process. A.  ... 
doi:10.1109/access.2020.3045610 fatcat:mx53lzy5zjfenf5wxl76dvgfhq

Machine Learning Based Indoor Localization Using Wi-Fi RSSI Fingerprints: An Overview

Navneet Singh, Sangho Choe, Rajiv Punmiya
2021 IEEE Access  
In recent years, many researchers have proposed a wide range of machine learning (ML)-based indoor localization approaches using Wi-Fi received signal strength indicator (RSSI) fingerprints.  ...  This survey attempts to provide a summarized investigation of MLbased Wi-Fi RSSI fingerprinting schemes, including data preprocessing, data augmentation, ML prediction models for indoor localization, and  ...  using UAVs and robots [63] , SLAM [92] , crowdsourcing [93] , and other efficient data collection methods.  ... 
doi:10.1109/access.2021.3111083 fatcat:7o6zb7kycrgftfpsukuwnsl24m

The IPIN 2019 Indoor Localisation Competition -Description and Results

Francesco Potorti, Sangjoon Park, Antonino Crivello, Filippo Palumbo, Michele Girolami, Paolo Barsocchi, Soyeon Lee, Joaquin Torres-Sospedra, Antonio Ramon Jimenez, Antoni Perez-Navarro, German M. Mendoza-Silva, Fernando Seco (+74 others)
2020 IEEE Access  
ACKNOWLEDGEMENTS Thanks to Siemens, the Electronic and Telecommunications Research Institute (ETRI), the Korean Institute of Communications and Information Sciences (KICS), Ganko Food, J-Power Systems  ...  and the other sponsors who provided prizes for the winners of the competition (see http: // for a complete list).  ...  The main purpose of Step 1 is to produce the Wi-Fi fingerprints, which is used for coarse positioning. In this step, we used the step-detection-assisted fingerprinting method [9, YAI team, C-8, Sec.  ... 
doi:10.1109/access.2020.3037221 fatcat:5qeoqek6x5enhdemchslojhotu

Location Systems: An Introduction to the Technology Behind Location Awareness

Anthony LaMarca, Eyal de Lara
2008 Synthesis Lectures on Mobile and Pervasive Computing  
The market for GPS products and services alone is expected to grow to US$200 billion by 2015 [141] . Location is also commonly used to infer other contexts.  ...  For example, the market for GPS products and services alone is expected to grow to US$200 billion by 2015.  ...  Particle Filters Particle filters are a Monte Carlo method for representing posterior distributions with a collection of individual samples or particles [37] .  ... 
doi:10.2200/s00115ed1v01y200804mpc004 fatcat:cbvw7weeibhxjnbwnp4y4mat3m
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