Charles Hamesse;Robbe Vleugels;Michiel Vlaminck;Hiep Luong;Rob Haelterman
{"title":"使用便携式 SLAM 系统进行快速、经济高效的 UWB 锚点位置校准","authors":"Charles Hamesse;Robbe Vleugels;Michiel Vlaminck;Hiep Luong;Rob Haelterman","doi":"10.1109/JSEN.2024.3419261","DOIUrl":null,"url":null,"abstract":"We propose a novel method to calibrate the location of ultrawideband (UWB) anchors using a rigidly attached simultaneous localization and mapping (SLAM)-UWB tag sensor system and solving the inverse problem of UWB positioning: based on known trajectories of the tags and UWB measurements relating the tags and the anchor, we estimate the position of the anchors. The proposed system has the potential to be a fast and cost-effective replacement for the traditional total station (TS) or full-room scanner solutions used to calibrate UWB anchors. To evaluate our system, we collect a dataset in a large warehouse in realistic conditions. We describe the design of our hardware-software calibration framework and its implementation, analyze our dataset, and explore how different robust loss functions affect the performance of our algorithm. We report the results of these experiments with detailed ablation studies and cross-validation. Following the open science principles, we release our code publicly.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Fast and Cost-Effective UWB Anchor Position Calibration Using a Portable SLAM System\",\"authors\":\"Charles Hamesse;Robbe Vleugels;Michiel Vlaminck;Hiep Luong;Rob Haelterman\",\"doi\":\"10.1109/JSEN.2024.3419261\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We propose a novel method to calibrate the location of ultrawideband (UWB) anchors using a rigidly attached simultaneous localization and mapping (SLAM)-UWB tag sensor system and solving the inverse problem of UWB positioning: based on known trajectories of the tags and UWB measurements relating the tags and the anchor, we estimate the position of the anchors. The proposed system has the potential to be a fast and cost-effective replacement for the traditional total station (TS) or full-room scanner solutions used to calibrate UWB anchors. To evaluate our system, we collect a dataset in a large warehouse in realistic conditions. We describe the design of our hardware-software calibration framework and its implementation, analyze our dataset, and explore how different robust loss functions affect the performance of our algorithm. We report the results of these experiments with detailed ablation studies and cross-validation. Following the open science principles, we release our code publicly.\",\"PeriodicalId\":447,\"journal\":{\"name\":\"IEEE Sensors Journal\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.3000,\"publicationDate\":\"2024-07-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Sensors Journal\",\"FirstCategoryId\":\"103\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10582837/\",\"RegionNum\":2,\"RegionCategory\":\"综合性期刊\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Sensors Journal","FirstCategoryId":"103","ListUrlMain":"https://ieeexplore.ieee.org/document/10582837/","RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
Fast and Cost-Effective UWB Anchor Position Calibration Using a Portable SLAM System
We propose a novel method to calibrate the location of ultrawideband (UWB) anchors using a rigidly attached simultaneous localization and mapping (SLAM)-UWB tag sensor system and solving the inverse problem of UWB positioning: based on known trajectories of the tags and UWB measurements relating the tags and the anchor, we estimate the position of the anchors. The proposed system has the potential to be a fast and cost-effective replacement for the traditional total station (TS) or full-room scanner solutions used to calibrate UWB anchors. To evaluate our system, we collect a dataset in a large warehouse in realistic conditions. We describe the design of our hardware-software calibration framework and its implementation, analyze our dataset, and explore how different robust loss functions affect the performance of our algorithm. We report the results of these experiments with detailed ablation studies and cross-validation. Following the open science principles, we release our code publicly.
期刊介绍:
The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following:
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-Sensors in Industrial Practice