INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING
The increasing demand for reliable indoor navigation systems is leading the research community to investigate various approaches to obtain effective solutions usable with mobile devices. Among the recently proposed strategies, Ultra-Wide Band (UWB) positioning systems are worth to be mentioned becau...
| Main Authors: | , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2020-08-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B1-2020/549/2020/isprs-archives-XLIII-B1-2020-549-2020.pdf |
| _version_ | 1811209248489603072 |
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| author | A. Masiero A. Masiero H. Perakis J. Gabela C. Toth V. Gikas G. Retscher S. Goel A. Kealy Z. Koppányi W. Błaszczak-Bak Y. Li D. Grejner-Brzezinska |
| author_facet | A. Masiero A. Masiero H. Perakis J. Gabela C. Toth V. Gikas G. Retscher S. Goel A. Kealy Z. Koppányi W. Błaszczak-Bak Y. Li D. Grejner-Brzezinska |
| author_sort | A. Masiero |
| collection | DOAJ |
| description | The increasing demand for reliable indoor navigation systems is leading the research community to investigate various approaches to obtain effective solutions usable with mobile devices. Among the recently proposed strategies, Ultra-Wide Band (UWB) positioning systems are worth to be mentioned because of their good performance in a wide range of operating conditions. However, such performance can be significantly degraded by large UWB range errors; mostly, due to non-line-of-sight (NLOS) measurements. This paper considers the integration of UWB with vision to support navigation and mapping applications. In particular, this work compares positioning results obtained with a simultaneous localization and mapping (SLAM) algorithm, exploiting a standard and a Time-of-Flight (ToF) camera, with those obtained with UWB, and then with the integration of UWB and vision. For the latter, a deep learning-based recognition approach was developed to detect UWB devices in camera frames. Such information is both introduced in the navigation algorithm and used to detect NLOS UWB measurements. The integration of this information allowed a 20% positioning error reduction in this case study. |
| first_indexed | 2024-04-12T04:35:02Z |
| format | Article |
| id | doaj.art-cf51d54545a04285ba28fd9914c7c2e4 |
| institution | Directory Open Access Journal |
| issn | 1682-1750 2194-9034 |
| language | English |
| last_indexed | 2024-04-12T04:35:02Z |
| publishDate | 2020-08-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-cf51d54545a04285ba28fd9914c7c2e42022-12-22T03:47:49ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342020-08-01XLIII-B1-202054955510.5194/isprs-archives-XLIII-B1-2020-549-2020INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONINGA. Masiero0A. Masiero1H. Perakis2J. Gabela3C. Toth4V. Gikas5G. Retscher6S. Goel7A. Kealy8Z. Koppányi9W. Błaszczak-Bak10Y. Li11D. Grejner-Brzezinska12Dept. of Civil and Environmental Engineering, University of Florence, ItalyInterdept. Research Center of Geomatics (CIRGEO), University of Padova, ItalySchool of Rural and Surveying Engineering, National Technical University of Athens, Athens, GreeceDepartment of Electrical and Electronic Engineering, The University of Melbourne, AustraliaDepartment of Civil, Environmental and Geodetic Engineering, The Ohio State University, Columbus, Ohio, USASchool of Rural and Surveying Engineering, National Technical University of Athens, Athens, GreeceDepartment of Geodesy and Geoinformation, TU Wien-Vienna University of Technology, Vienna, AustriaDepartment of Civil Engineering, Indian Institute of Technology, Kanpur, IndiaDepartment of Geospatial Science, RMIT University, Melbourne, AustraliaLeica Geosystems, Heerbrugg, SwitzerlandInstitute of Geodesy of the University of Warmia and Mazury, Olsztyn, PolandSMART Infrastructure Facility, University of Wollongong, AustraliaCollege of Engineering, The Ohio State University, Columbus, Ohio, USAThe increasing demand for reliable indoor navigation systems is leading the research community to investigate various approaches to obtain effective solutions usable with mobile devices. Among the recently proposed strategies, Ultra-Wide Band (UWB) positioning systems are worth to be mentioned because of their good performance in a wide range of operating conditions. However, such performance can be significantly degraded by large UWB range errors; mostly, due to non-line-of-sight (NLOS) measurements. This paper considers the integration of UWB with vision to support navigation and mapping applications. In particular, this work compares positioning results obtained with a simultaneous localization and mapping (SLAM) algorithm, exploiting a standard and a Time-of-Flight (ToF) camera, with those obtained with UWB, and then with the integration of UWB and vision. For the latter, a deep learning-based recognition approach was developed to detect UWB devices in camera frames. Such information is both introduced in the navigation algorithm and used to detect NLOS UWB measurements. The integration of this information allowed a 20% positioning error reduction in this case study.https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B1-2020/549/2020/isprs-archives-XLIII-B1-2020-549-2020.pdf |
| spellingShingle | A. Masiero A. Masiero H. Perakis J. Gabela C. Toth V. Gikas G. Retscher S. Goel A. Kealy Z. Koppányi W. Błaszczak-Bak Y. Li D. Grejner-Brzezinska INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING |
| title_full | INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING |
| title_fullStr | INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING |
| title_full_unstemmed | INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING |
| title_short | INDOOR NAVIGATION AND MAPPING: PERFORMANCE ANALYSIS OF UWB-BASED PLATFORM POSITIONING |
| title_sort | indoor navigation and mapping performance analysis of uwb based platform positioning |
| url | https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B1-2020/549/2020/isprs-archives-XLIII-B1-2020-549-2020.pdf |
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