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We provide results and error analysis for over four hundred individual measurements of a Near-Field Electromagnetic Ranging (NFER®) Real-Time Location System (RTLS). The system operated over ranges from 1.41m to 23.4m and the bulk of the points were taken “through wall” in a non-line-of-sight configuration. We break the error down into orthogonal range and transverse components in order to assess...
Visual maps of the seafloor should ideally provide the ability to measure individual features of interest in real units. Two-dimensional photomosaics cannot provide this capability without making assumptions that often fail over 3-D terrain, and are generally used for visualization, but not for measurement. Full 3-D structure can be recovered using stereo vision, structure from motion (SFM), or simultaneous...
Odometry calibration is an essential step for successful navigation of any moving system because most of the control algorithms work based on odometry information. Odometry errors can be categorized as systematic and non-systematic errors. In this paper, a terminal iterative learning control (TILC) based odometry calibration method is proposed to calibrate the systematic errors. First, a TILC algorithm...
Differential-drive mobile robots are usually equipped with video-cameras for navigation purposes. In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the following quantities: the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame and, finally, the odometric parameters of the...
AutoGait is a mobile platform that autonomously discovers a user's walking profile and accurately estimates the distance walked. The discovery is made by utilizing the GPS in the user's mobile device when the user is walking outdoors. This profile can then be used both indoors and outdoors to estimate the distance walked. To model the person's walking profile, we take advantage of the fact that a...
The goal of the autonomous city explorer (ACE) is to navigate autonomously, efficiently and safely in an unpredictable and unstructured urban environment. To achieve this aim, an accurate localization is one of the preconditions. Due to the characteristics of our navigation environment, an elaborated visual odometry system is proposed to estimate the current position and orientation of the ACE platform...
In this research, we propose a unique multi-planar LIDAR and computer vision calibration algorithm. This method only requires the camera and LIDAR to observe a planar pattern at different positions and orientations. Geometric constraints of the dasiaviewspsila from the LIDAR and camera images are resolved as the coordinate transformation coefficients. The proposed approach consists of two stages:...
Personalized localization, navigation and navigation assistance are key issues for almost all aspects of future mobility. We use therefore the SegIT transporter, a new mobile platform based on a Segway Personal Transporter. It is equipped with an onboard video, time-of-flight image and navigation data processing system providing safety and comfort assistance during indoor and outdoor usage. The SegIT...
This paper develops methodologies and techniques for autonomous navigation of a tour-guide robot with a human-robot interaction system. The designed navigation system includes global localization, dynamic path planning, local goal-seeking, safe obstacle-avoidance, behavior fusion, and autonomous robot control. The RFID module for global pose initialization is presented based on the RSSI measurements,...
An open hardware architecture for a goal-oriented indoor mobile robot navigation based on corrected odometry information using fuzzy logic controller is presented in this paper. The proposed approach exploits the ability of mobile robots to navigate in unstructured, cluttered and potentially hostile environments using calibrated odometry information, proximity sensor data and a fuzzy logic engine...
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