2016 13th Workshop on Positioning, Navigation and Communications (WPNC)最新文献_第3页

Introducing a novel marker-based geometry model in monocular vision 介绍了一种新的基于标记的单目视觉几何模型

2016 13th Workshop on Positioning, Navigation and Communications (WPNC) Pub Date : 2016-10-01 DOI: 10.1109/WPNC.2016.7822857

Alexandre Bousaid, Theodoros Theodoridis, S. Nefti-Meziani

引用次数: 3

Probabilistic occupancy grid map building for Neobotix MP500 robot Neobotix MP500机器人的概率占用网格地图构建

2016 13th Workshop on Positioning, Navigation and Communications (WPNC) Pub Date : 2016-10-01 DOI: 10.1109/WPNC.2016.7822843

Ernő Horváth, C. Pozna

引用次数: 4

Direction of arrival estimation for robots using radio signal strength and mobility 基于无线电信号强度和机动性的机器人到达方向估计

2016 13th Workshop on Positioning, Navigation and Communications (WPNC) Pub Date : 2016-10-01 DOI: 10.1109/WPNC.2016.7822845

Christopher J. Lowrance, Adrian P. Lauf

{"title":"Direction of arrival estimation for robots using radio signal strength and mobility","authors":"Christopher J. Lowrance, Adrian P. Lauf","doi":"10.1109/WPNC.2016.7822845","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822845","url":null,"abstract":"A robot is sometimes unable to obtain its precise location, or the location of its neighbors, due to the limitations of the global positioning system (GPS) or due to positioning information not being exchanged between neighbors. In either scenario, received radio signals can be used by a robot to infer positioning information, but the process is challenging because of the dynamics of radio wave propagation. To mitigate these effects and improve accuracy, many of the existing methods for inferring the direction of arrival (DoA) of radio signals impose unrealistic resource demands on robots. For instance, the schemes either require rotating directional antenna systems to be mounted on robots, or they depend upon other collaborative systems, with known locations, to assist in localization. However, in reality, robots usually do not have sufficient resources, in terms of space and energy, to support the mounting of directional antennas, nor are they guaranteed to have the luxury of collaborative team members. As a more practical alternative, this paper presents a coarse-grained method of finding the relative direction of a transmitter using minimal resources. Specifically, the approach only depends upon a robot's ability to move in an approximate triangular pattern while sampling the received signal strength indicator (RSSI) from its off-the-shelf radio. The RSSI samples are uniquely processed using a combination of regression and vector analysis to estimate the DoA. The proposed technique was evaluated in simulation, as well as in the real world using an actual robot. The evaluation shows an average accuracy improvement of over 30 degrees, as well as a reduction of over 80% in sampling movement, when compared to related work.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128598406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Multipath assisted positioning in vehicular applications 车辆应用中的多路径辅助定位

2016 13th Workshop on Positioning, Navigation and Communications (WPNC) Pub Date : 2016-10-01 DOI: 10.1109/WPNC.2016.7822850

M. Ulmschneider, R. Raulefs, C. Gentner, M. Walter

{"title":"Multipath assisted positioning in vehicular applications","authors":"M. Ulmschneider, R. Raulefs, C. Gentner, M. Walter","doi":"10.1109/WPNC.2016.7822850","DOIUrl":"https://doi.org/10.1109/WPNC.2016.7822850","url":null,"abstract":"Precise localization and tracking in intelligent transportation systems has aroused great interest since it is required in a large variety of applications. The positioning accuracy of global navigation satellite systems is unreliable and insufficient enough for many use cases. In urban canyons or tunnels, the positioning performance degrades due to a low received signal power, multipath propagation, or signal blocking. Instead we exploit the ubiquitous access to cellular mobile radio networks. Cellular networks are designed to cover the access to the network in an area by a single link to reduce the risk of interference from neighboring base stations. The idea of Channel-SLAM is to exploit the numerous multipath components (MPCs) of a radio signal arriving at the receiver for positioning. Each MPC can be regarded as being sent from a virtual transmitter in a pure line-of-sight condition. Within this paper, we show how to apply multipath assisted positioning in an urban scenario. Therefore, we analyze how a road user equipped with a circular antenna array is tracked in an urban scenario in the presence of only one physical transmitter. We further jointly estimate the positions of the physical and the virtual transmitters to enrich maps.","PeriodicalId":148664,"journal":{"name":"2016 13th Workshop on Positioning, Navigation and Communications (WPNC)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123751807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

A Reverse Bearings Only Target Motion Analysis (BO-TMA) for improving AUV navigation accuracy 一种用于提高水下航行器导航精度的反向方位目标运动分析(BO-TMA)

2016 13th Workshop on Positioning, Navigation and Communications (WPNC) Pub Date : 2016-10-01 DOI: 10.1109/WPNC.2016.7822842

Talmon Alexandri, R. Diamant

引用次数: 6