“…While Bluetooth, WiFi, ZigBee and RFID based localization techniques are considered low-cost, UWB transceivers are usually more expensive, but this technology can be more accurate than the other ones [ 16 , 17 , 18 ]. However, the accuracy of a system highly depends on the method itself and other supplementary calculations for example, filtering, predictions [ 19 , 20 , 21 ] and auxiliary units (e.g., IMU-s, cameras) and supporting technologies [ 22 , 23 ]. There are plenty of methods to improve the accuracy of the aforementioned techniques, but generally speaking these methods often require much more computational capacity or more complex and dense infrastructure.…”