scholarly journals Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments

Sensors ◽  
2018 ◽  
Vol 18 (7) ◽  
pp. 2274 ◽  
Author(s):  
Benjamin McLoughlin ◽  
Harry Pointon ◽  
John McLoughlin ◽  
Andy Shaw ◽  
Frederic Bezombes
Keyword(s):  
Ground Truth ◽  
Position Estimation ◽  
Ultra Wideband ◽  
Optimal Position ◽  
Total Station ◽  
Positioning Systems ◽  
Recent Developments ◽  
Sensor Measurement ◽  
Uncertainty Models ◽  
Robotic Total Station

Recent developments in localisation systems for autonomous robotic technology have been a driving factor in the deployment of robots in a wide variety of environments. Estimating sensor measurement noise is an essential factor when producing uncertainty models for state-of-the-art robotic positioning systems. In this paper, a surveying grade optical instrument in the form of a Trimble S7 Robotic Total Station is utilised to dynamically characterise the error of positioning sensors of a ground based unmanned robot. The error characteristics are used as inputs into the construction of a Localisation Extended Kalman Filter which fuses Pozyx Ultra-wideband range measurements with odometry to obtain an optimal position estimation, all whilst using the path generated from the remote tracking feature of the Robotic Total Station as a ground truth metric. Experiments show that the proposed method yields an improved positional estimation compared to the Pozyx systems’ native firmware algorithm as well as producing a smoother trajectory.

scholarly journals Lora RTT Ranging Characterization and Indoor Positioning System

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Qiang Liu ◽  
XiuJun Bai ◽  
Xingli Gan ◽  
Shan Yang
Keyword(s):  
Estimation Method ◽  
Ground Truth ◽  
Indoor Positioning ◽  
Position Estimation ◽  
Cumulative Distribution ◽  
Positioning System ◽  
Positioning Error ◽  
Positioning Systems ◽  
Ground Truth Location ◽  
Indoor Positioning System

In recent years, indoor positioning systems (IPS) are increasingly very important for a smart factory, and the Lora positioning system based on round-trip time (RTT) has been developed. This paper introduces the ranging characterization, RTT measurement, and position estimation method. In particular, a particle filter localization method-aided Lora pseudorange fitting correction is designed to solve the problem of indoor positioning; the cumulative distribution function (CDF) criteria are used to measure the quality of the estimated location in comparison to the ground truth location; when the positioning error on the x -axis threshold is 0.2 m and 0.6 m, the CDF with pseudorange correction is 61% and 99%, which are higher than the 32% and 85% without pseudorange correction. When the positioning error on the y -axis threshold is 0.2 m and 0.6 m, the CDF with pseudorange correction is 71% and 99.9%, which are higher than the 52% and 94.8% without pseudorange correction.

scholarly journals Experimental Evaluation of UWB Indoor Positioning for Indoor Track Cycling

Sensors ◽  
2019 ◽  
Vol 19 (9) ◽  
pp. 2041 ◽  
Author(s):  
Kevin Minne ◽  
Nicola Macoir ◽  
Jen Rossey ◽  
Quinten Van den Brande ◽  
Sam Lemey ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Indoor Positioning ◽  
Ultra Wideband ◽  
Optimal Position ◽  
Positioning Systems ◽  
Communication Range ◽  
Lower Back ◽  
Depth Analysis ◽  
Track Cycling ◽  
Localization Systems

Accurate radio frequency (RF)-based indoor localization systems are more and more applied during sports. The most accurate RF-based localization systems use ultra-wideband (UWB) technology; this is why this technology is the most prevalent. UWB positioning systems allow for an in-depth analysis of the performance of athletes during training and competition. There is no research available that investigates the feasibility of UWB technology for indoor track cycling. In this paper, we investigate the optimal position to mount the UWB hardware for that specific use case. Different positions on the bicycle and cyclist were evaluated based on accuracy, received power level, line-of-sight, maximum communication range, and comfort. Next to this, the energy consumption of our UWB system was evaluated. We found that the optimal hardware position was the lower back, with a median ranging error of 22 cm (infrastructure hardware placed at 2.3 m). The energy consumption of our UWB system is also taken into account. Applied to our setup with the hardware mounted at the lower back, the maximum communication range varies between 32.6 m and 43.8 m. This shows that UWB localization systems are suitable for indoor positioning of track cyclists.

UWB Positioning Systsem Design: Selection of Modulation and Multiple Access Schemes

2007 ◽  
Vol 61 (1) ◽  
pp. 45-62 ◽  
Author(s):  
Hui Yu ◽  
Enrique Aguado ◽  
Gary Brodin ◽  
John Cooper ◽  
David Walsh ◽  
...  
Keyword(s):  
Multiple Access ◽  
High Performance ◽  
Ultra Wideband ◽  
Good Time ◽  
Modulation Scheme ◽  
Positioning System ◽  
Indoor Environments ◽  
Signal Design ◽  
Positioning Systems ◽  
Design Selection

In densely-populated cities or indoor environments, limited visibility to satellites and severe multipath effects significantly affect the accuracy and reliability of satellite-based positioning systems. To meet the needs of “seamless navigation” in these challenging environments an advanced terrestrial positioning system is under development. This system is based upon Ultra-Wideband (UWB) technology, which is a promising candidate for this application due to good time domain resolution and immunity to multipath. This paper presents a detailed analysis of two key aspects of the UWB signal design that will allow it to be used as the basis of such a high performance positioning system: the modulation scheme and the multiple access technique. These two aspects are evaluated in terms of spectral efficiency and synchronisation performance over multipath channels. Thus this paper identifies optimal modulation and multiple access techniques for a long range, high performance terrestrial positioning system using UWB.

scholarly journals Experimental Comparison between Event and Global Shutter Cameras

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1137
Author(s):  
Ondřej Holešovský ◽  
Radoslav Škoviera ◽  
Václav Hlaváč ◽  
Roman Vítek
Keyword(s):  
High Speed ◽  
Ground Truth ◽  
Motion Blur ◽  
Position Estimation ◽  
Estimation Accuracy ◽  
Experimental Comparison ◽  
Estimation Errors ◽  
Detection Rates ◽  
Ballistic Experiment ◽  
Event Camera

We compare event-cameras with fast (global shutter) frame-cameras experimentally, asking: “What is the application domain, in which an event-camera surpasses a fast frame-camera?” Surprisingly, finding the answer has been difficult. Our methodology was to test event- and frame-cameras on generic computer vision tasks where event-camera advantages should manifest. We used two methods: (1) a controlled, cheap, and easily reproducible experiment (observing a marker on a rotating disk at varying speeds); (2) selecting one challenging practical ballistic experiment (observing a flying bullet having a ground truth provided by an ultra-high-speed expensive frame-camera). The experimental results include sampling/detection rates and position estimation errors as functions of illuminance and motion speed; and the minimum pixel latency of two commercial state-of-the-art event-cameras (ATIS, DVS240). Event-cameras respond more slowly to positive than to negative large and sudden contrast changes. They outperformed a frame-camera in bandwidth efficiency in all our experiments. Both camera types provide comparable position estimation accuracy. The better event-camera was limited by pixel latency when tracking small objects, resulting in motion blur effects. Sensor bandwidth limited the event-camera in object recognition. However, future generations of event-cameras might alleviate bandwidth limitations.

Lessons Learned in Generating Ground Truth for Indoor Positioning Systems Based on Wi-Fi Fingerprinting

2019 ◽  
pp. 45-67 ◽  
Author(s):  
Joaquín Torres-Sospedra ◽  
Óscar Belmonte-Fernández ◽  
Germán M. Mendoza-Silva ◽  
Raul Montoliu ◽  
Adrián Puertas-Cabedo ◽  
...  
Keyword(s):  
Ground Truth ◽  
Indoor Positioning ◽  
Lessons Learned ◽  
Positioning Systems

scholarly journals Joint clock synchronization and position estimation in time of arrival–based passive positioning systems

2018 ◽  
Vol 14 (11) ◽  
pp. 155014771878689 ◽  
Author(s):  
Shenghong Li ◽  
Lingyun Lu ◽  
Mark Hedley ◽  
David Humphrey ◽  
Iain B Collings
Keyword(s):  
Clock Synchronization ◽  
Likelihood Estimation ◽  
Least Square Method ◽  
Position Estimation ◽  
Least Square ◽  
Time Of Arrival ◽  
Positioning Systems ◽  
Reference Node ◽  
Localization Scheme ◽  
Wireless Signal

A widely used scheme for target localization is to measure the time of arrival of a wireless signal emitted by a tag, which requires the clocks of the anchors (receivers at known locations) to be accurately synchronized. Conventional systems rely on transmissions from a timing reference node at a known location for clock synchronization and therefore are susceptible to reference node failure. In this article, we propose a novel localization scheme which jointly estimates anchor clock offsets and target positions. The system does not require timing reference nodes and is completely passive (non-intrusive). The positioning algorithm is formulated as a maximum likelihood estimation problem, which is solved efficiently using an iterative linear least square method. The Cramér–Rao lower bound of positioning error is also analyzed. It is shown that the performance of the proposed scheme improves with the number of targets in the system and approaches that of a system with perfectly synchronized anchors.

scholarly journals Point-Cloud Models of Historical Barns – Spatial Discrepancies of Laser Scanning versus Robotic Total Station

10.29007/2493 ◽  
2020 ◽  
Author(s):  
Gustavo Maldonado ◽  
Marcel Maghiar ◽  
Brent Tharp ◽  
Dhruv Patel
Keyword(s):  
Service Learning ◽  
Point Cloud ◽  
Laser Scanning ◽  
3D Point Cloud ◽  
Spatial Accuracy ◽  
Total Station ◽  
Cloud Models ◽  
Bulloch County ◽  
Southern University ◽  
Robotic Total Station

This study considers the generation of virtual, 3D point-cloud models of seven deteriorating historical, agricultural barns in Bulloch County, Georgia, USA, for preservation purposes. The work was completed as a service-learning project in a course on Terrestrial Light Detection and Ranging (T-LiDAR), offered at Georgia Southern University. The resulting models and fly-through videos were donated to Bulloch County Historical Society and to the Georgia Southern Museum, to make them available to the general public and future generations. Additionally, one of the seven barns was selected to be extensively measured to estimate the relative spatial accuracy of all seven resulting 3D point-cloud models, with respect to measurements completed with a highly accurate instrument. Three accurate benchmarks were established around it for georeferencing purposes. The positions of 44 points were measured in the field via an accurate, one- second, robotic total-station (RTS) instrument. Also, the coordinates of the same points were acquired from within georeferenced and non-georeferenced point-cloud models. These points defined 259 distances. They were compared to determine their discrepancy statistics. It was observed that this process produced virtual models with an approximate maximum spatial discrepancy of one-half inch (0.5 in) with respect to measurements performed by a highly accurate RTS device. There were no substantial differences in the relative accuracies of the georeferenced and non-georeferenced models.

Landslide monitoring using terrestrial laser scanner and robotic total station in Rancabali, West Java (Indonesia)

2017 ◽  
Author(s):  
Irwan Gumilar ◽  
Alif Fattah ◽  
Hasanuddin Z. Abidin ◽  
Vera Sadarviana ◽  
Nabila S. E. Putri ◽  
...  
Keyword(s):  
Laser Scanner ◽  
Landslide Monitoring ◽  
Terrestrial Laser Scanner ◽  
West Java ◽  
Total Station ◽  
Robotic Total Station

scholarly journals Optimal Position of Attachment for Removable Thermoplastic Aligner on the Lower Canine Using Finite Element Analysis

Materials ◽  
2020 ◽  
Vol 13 (15) ◽  
pp. 3369 ◽  
Author(s):  
Won-Hyeon Kim ◽  
Kyoungjae Hong ◽  
Dohyung Lim ◽  
Jong-Ho Lee ◽  
Yu Jung ◽  
...  
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Optimal Shape ◽  
Torque Control ◽  
Element Analysis ◽  
Optimal Position ◽  
Tooth Shape ◽  
Lingual Side ◽  
Lower Canine ◽  
Recent Developments

Malocclusion is considered as a developmental disorder rather than a disease, and it may be affected by the composition and proportions of masseter muscle fibers. Orthodontics is a specialty of dentistry that deals with diagnosis and care of various irregular bite and/or malocclusion. Recent developments of 3D scanner and 3D printing technology has led to the use of a removable thermoplastic aligner (RTA), which is widely used due to its aesthetic excellence, comfortableness, and time efficiency. However, orthodontics using only an RTA has lower treatment efficacy and accuracy due to the differing movement of teeth from the plan. In order to improve these disadvantages, attachments were used, and biomechanical analyses were performed with and without them. However, there is insufficient research on the movement of teeth and the transfer of load according to the attachment position and shape. Therefore, in our study, we aimed to identify the optimal shape and position of attachments by analyzing various shapes and positions of attachments. Through 3D finite element analysis (FEA), simple tooth shape and mandibular canine shape were extracted in order to construct the orthodontics model which took into account the various shapes and positions of attachments. The optimal shape of a cylinder was derived through the FEA of simple tooth shape and analyzing various positions of attachments on teeth revealed that fixing the attachments at the lingual side of the tooth rather than the buccal side allowed for torque control and an effective movement of the teeth. Therefore, we suggest fixing the attachments at the lingual side rather than the buccal side of the tooth to induce effective movement of teeth in orthodontic treatment with the RTA in case of canine teeth.

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