Indoor Navigation and Mapping: Performance Analysis of Uwb-Based Platform Positioning

Masiero, Andrea; Perakis, Harris; Gabela, Jelena; Toth, Charles K.; Gikas, Vassilis; Retscher, Guenther; Goel, Subhash C.; Kealy, Allison; Koppanyi, Zoltan; Błaszczak-Bąk, Wioleta; Li, Yan; Grejner‐Brzezinska, Dorota A.

doi:10.5194/isprs-archives-xliii-b1-2020-549-2020

Cited by 2 publications

(1 citation statement)

References 19 publications

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“…Deep learning methods are also involved in this aspect. Article [ 84 ] used a deep neural network to integrate UWB information into the visual positioning navigation framework. The information obtained by this framework is not only taken into navigation algorithms, but is also used to detect non-line-of-sight (NLOS) UWB measurements.…”

Section: Multi-sensors Fusion Navigation Methodsmentioning

confidence: 99%

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yang

Zhang

et al. 2021

Sensors

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Indoor autonomous navigation refers to the perception and exploration abilities of mobile agents in unknown indoor environments with the help of various sensors. It is the basic and one of the most important functions of mobile agents. In spite of the high performance of the single-sensor navigation method, multi-sensor fusion methods still potentially improve the perception and navigation abilities of mobile agents. This work summarizes the multi-sensor fusion methods for mobile agents’ navigation by: (1) analyzing and comparing the advantages and disadvantages of a single sensor in the task of navigation; (2) introducing the mainstream technologies of multi-sensor fusion methods, including various combinations of sensors and several widely recognized multi-modal sensor datasets. Finally, we discuss the possible technique trends of multi-sensor fusion methods, especially its technique challenges in practical navigation environments.

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Section: Multi-sensors Fusion Navigation Methodsmentioning

confidence: 99%

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yang

Zhang

et al. 2021

Sensors

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Assessment of Car Collaborative Positioning With Uwb and Vision

Masiero

Toth

Gabela

et al. 2021

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. During the last decades the role of positioning and navigation systems is drastically changed in the everyday life of common people, influencing people behavior even multiple times each day. One of the most common applications of this kind of systems is that of terrestrial vehicle navigation: the use of GPS in the automotive navigation sector started thirty years ago, and, nowadays, it commonly assists drivers in reaching most of their non-standard destinations. Despite the popularity of global navigation satellite systems (GNSS), their usability is quite limited in certain working conditions, such as in urban canyons, in tunnels and indoors. While the latter case is typically not particularly interesting for the automotive sector, the first two scenarios represent important cases of interest for automotive navigation. In addition to the market request for increasing the usability of navigation systems on consumer devices, the recent increasing eagerness for autonomous driving is also attracting a lot of researchers’ attention on the development of alternative positioning systems, able to compensate for the unavailability or unreliability of GNSS. In accordance with the motivations mentioned above, this paper focuses on the development of a positioning system based on collaborative positioning between vehicles with UltraWide-Band devices and vision. To be more specific, this work focuses on assessing the performance of the developed system in successfully accomplishing three tasks, associated to different levels of gathered information: 1) assessing distance between vehicles, 2) determining the vehicle relative positions, 3) estimating the absolute car positions. The obtained results show that a) UWB can be reliably used (error of few decimeters error) to assess distances when vehicles are relatively close to each other (e.g. less than 40 m), b) the combination of UWB and vision allows to obtain good results in the computation of relative positions between vehicles, c) UWB-based collaborative positioning can be used for determining the absolute vehicle positions if a sufficient number of UWB range measurements can be ensured (sub-meter error for vehicles connected with a static UWB infrastructure, whereas error at meter level for those exploiting only vehicle-to-vehicle UWB communications).

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Indoor Navigation and Mapping: Performance Analysis of Uwb-Based Platform Positioning

Cited by 2 publications

References 19 publications

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Assessment of Car Collaborative Positioning With Uwb and Vision

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