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A cyberphysical network of insect biobots or biological robots could aid first-responders for search-and-rescue applications in uncertain disaster environments. In such networks, the nodes are insect biobots equipped with miniature backpacks utilizing a system-on-chip. These applications demand fine-grained, real-time localization of the sensor nodes. In this paper, we use a combination of radio-frequency...
A rugged method for distance estimation based on an OFDM signal combined with the Zadoff-Chu sequences is introduced. A software algorithm extracts a coarse distance in time domain exploiting the Zadoff-Chu properties. The distance, then, is fine adjusted evaluating the time offset from the subcarriers phase. Several tests were performed in laboratory considering a very harsh indoor environment and...
Nowadays, indoor localization systems gain more and more attention, as demand for the services employing data on the indoor position of the objects and people is growing. There are many techniques used for position calculation. The most popular rely on measurements of radio wave propagation times. Most of the systems' architectures consist of localized tags and fixed-positioned anchor nodes. Knowledge...
Some location-aware use cases imply that a person desires to find an object relative to his position. This is the case of museum visits or any indoors/outdoors activity where the objects of interest are not geo-referenced or even can move with time. For these use cases, a user does not need an absolute localization, but a relative information consisting of the range to the object and the heading angle...
This work presents a study to determine the improvement of the simultaneous position estimations of several Mobile Robots (MRs) adding the relative distances between them, regarding independent position estimations for each MR. To evaluate the performance of the proposal, it is supposed that the localization scenario is composed of an Ultrasonic Local Positioning System (ULPS) and two MRs with odometry...
This paper considers the problem of range-based decentralized localization in wireless sensor networks when the impulsive measurement noise is present. We develop a robust localization estimator requiring no a priori knowledge of the noise distribution. The approach to robust localization presented here follows the concept of M-estimation and is implemented in a decentralized manner thus suiting the...
Global Positioning System (GPS) is one of famous technology which applied for outdoor localization. Unfortunately, GPS has lacked in accuracy while it uses in indoor environments. Fingerprint is a method enriched with lots of received signal strength. This method is used for mapping the observation area, and it is suitable for indoor application such as crowdsources tracking moving object in indoor...
This paper presents a new adaptation of Zadoff-Chu sequences for the purpose of range estimation and movement tracking. The proposed method uses Zadoff-Chu sequences utilizing a wideband ultrasonic signal to estimate the range between two devices with very high accuracy and high update rate. This range estimation method is based on time of flight (TOF) estimation using cyclic cross correlation. The...
We consider the problem of range-based cooperative localization for multiple agents in a GPS-denied environment. For the minimal reference purpose, there exists only one single landmark whose global position is known to a subset of agents. All agents which are equipped with Ultra Wideband (UWB) radars are able to measure the relative distance between themselves and their communicating neighbours....
The Affect-in-the-Wild (Aff-Wild) Challenge proposes a new comprehensive benchmark for assessing the performance of facial affect/behaviour analysis/understanding 'in-the-wild'. The Aff-wild benchmark contains about 300 videos (over 2,000 minutes of data) annotated with regards to valence and arousal, all captured 'in-the-wild' (the main source being Youtube videos). The paper presents the database...
A novel method for distance estimation is introduced, based on an OFDM signal combined with the Zadoff-Chu Sequences. By exploiting the properties of these sequences it is possible to evaluate the distance between a transmitter and a receiver with a very good precision and accuracy. The technique effectiveness is demonstrated in a real operating environment by measuring the distance between two active...
In the last few years, Unmanned Aerial Systems (UAS) have been attracting enormous research interest, being employed in military and civilian missions (e.g. search and rescue, disaster assessment, urban traffic monitoring, 3D mapping, etc.) that would be risky or impossible for a human to perform. For autonomous or aided operations (e.g. automatic or aided landing), it is crucial to have on board...
Recommender systems are ubiquitous in applications ranging from e-commerce to social media, helping users to navigate a huge selection of items and to meet a variety of special needs and user tastes. Incorporating contextual knowledge into such systems — such as relational information — has proven to be an effective way to improve recommendation accuracy. A popular line of research aims to model relationships...
The performance of a range-based indoor positioning system is severely degraded by non-line-of-sight (NLOS) propagation due to the offsets in range measurements (i.e., NLOS errors). It is difficult to predict or mitigate the NLOS errors since they vary from one position to another due to changes in the environment. In this paper, we propose a novel NLOS error mitigation scheme based on the integration...
Creating an efficient localization algorithm for Internet of Things (IoT) and heterogeneous networks has been of the greatest challenges in the recent years for the researchers and industries. There has been significant efforts to increase the estimation accuracy and computational speed of localization algorithms either by improving the already existing ones or proposing new solutions. In this paper...
Reverberation and multipath propagation afîect the accuracy of time of flight (TOF) estimation in confined underwater medium. In this paper, time delay has been estimated by obtaining the transmitted signal and first echo signal from measured signal acquised by using a wideband transducer with 5 MHz central frequency. Cross-correlation (CC) and generalized cross-correlation (GCC) methods have been...
In this paper, we propose a novel energy detection (ED) receiver architecture combined with time-of-arrival (TOA) estimation algorithm, compliant to the IEEE 802.15.4a standard. The architecture is based on double overlapping integrators and a sliding correlator. It exploits a series of ternary preamble sequences with perfect autocorrelation property. This property ensures coding gain which allows...
Sound localization refers to a listener's ability to identify the location or origin of a detected sound in direction and distance. The traditional method of sound localization is aimed at the problem of three-dimensional localization, which requires an array of four or more microphones. Specialized research on two-dimensional sound localization is few. Although microphone arrays are also able to...
Superpixel algorithm aims to semantically group neighboring pixels into a coherent region. It could significantly boost the performance of the subsequent vision processing task such as image segmentation. Recently, the work simple linear iterative clustering (SLIC) [1] has drawn huge attention for its state-of-the-art segmentation performance and high computational efficiency. However, the performance...
The paper introduces a novel method for distance estimation based on an OFDM signal combined with the Zadoff-Chu sequences. By exploiting the properties of these sequences, it is possible to evaluate the distance between two active nodes with a very good precision and accuracy. The technique effectiveness is demonstrated by measuring the distance between a single transmitter and a synchronized receiver...
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