A5086628786- Indoor and Outdoor Localization Technologies
- Underwater Vehicles and Communication Systems
- Robotics and Sensor-Based Localization
- Speech and Audio Processing
- Scientific Computing and Data Management
- GNSS positioning and interference
- Target Tracking and Data Fusion in Sensor Networks
- Context-Aware Activity Recognition Systems
- Balance, Gait, and Falls Prevention
- Inertial Sensor and Navigation
- Robotic Path Planning Algorithms
- Gait Recognition and Analysis
- Cerebral Palsy and Movement Disorders
- Fault Detection and Control Systems
- Ultrasonics and Acoustic Wave Propagation
- Energy Efficient Wireless Sensor Networks
- Flow Measurement and Analysis
- Artificial Intelligence in Healthcare and Education
- Frailty in Older Adults
- Diabetic Foot Ulcer Assessment and Management
- Mobile Crowdsensing and Crowdsourcing
- Smart Agriculture and AI
- Fuzzy Logic and Control Systems
- Bluetooth and Wireless Communication Technologies
- Advanced Control Systems Optimization
Centre for Automation and Robotics
2015-2024
Consejo Superior de Investigaciones Científicas
2015-2024
Unidades Centrales Científico-Técnicas
2010-2023
Centro Nacional de Investigaciones Científicas
2021
Ministerio de Ciencia, Tecnología y Medio Ambiente
2020
Junta de Andalucía
2020
Andalusian Institute of Agricultural and Fisheries Research and Training
2020
Instituto de Cibernética Matemática y Física
2002-2020
Euromedic
2020
Sapienza University of Rome
2020
Human localization is a very valuable information for smart environments. state-of-the-art local positioning systems (LPS) require complex sensor-network infrastructure to locate with enough accuracy and coverage. Alternatively, inertial measuring units (IMU) can be used estimate the movement of person, by detecting steps, estimating stride lengths directions motion; methodology that called pedestrian dead-reckoning (PDR). In this paper, we use low-performance microelectromechanical (MEMS)...
The estimation of the position a person in building is must for creating Intelligent Spaces. State-of-the-art Local Positioning Systems (LPS) require complex sensor-network infrastructure to locate with enough accuracy and coverage. Alternatively, Inertial Measuring Units (IMU) can be used estimate movement person; methodology that called Pedestrian Dead-Reckoning (PDR). In this paper, we describe implement Kalman-based framework, INS-EKF-ZUPT (IEZ), attitude while walking. IEZ makes use an...
We present a new method to accurately locate persons indoors by fusing inertial navigation system (INS) techniques with active RFID technology. A foot-mounted measuring units (IMUs)-based position estimation method, is aided the received signal strengths (RSSs) obtained from several tags placed at known locations in building. In contrast other authors that integrate IMUs and RSS loose Kalman filter (KF)-based coupling (by using residuals of inertial- RSS-calculated positions), we tight...
Most ultrawideband (UWB) location systems already proposed for position estimation have only been individually evaluated particular scenarios. For a fair performance comparison among different solutions, common evaluation scenario would be desirable. In this paper, we compare three commercially available UWB (Ubisense, BeSpoon, and DecaWave) under the same experimental conditions, in order to do critical analysis. We include characterization of quality estimated tag-to-sensor distances an...
This document provides a survey of the mathematical methods currently used for position estimation in indoor local positioning systems (LPS), particularly those based on radiofrequency signals. The techniques are grouped into four categories: geometry-based methods, minimization cost function, fingerprinting, and Bayesian techniques. Comments applicability, requirements, immunity to nonline-of-sight (NLOS) propagation signals each method provided.
A review of previous studies to automate the location fruit on trees using computer vision methods wasperformed. The main features these approaches are described, paying special attention sensors and accessoriesutilized for capturing tree images, image processing strategy used detect fruit, results obtained in termsof correct/false detection rates ability independent its maturity stage. majority theseworks use CCD cameras capture images local or shape-based analysis fruit. Systems usinglocal...
Several UWB location systems have already been proposed for accurate position estimation. These systems, some available at commercial level, and others implemented as laboratory test-beds, individually evaluated particular applications under different fusion strategies. In this paper we compare two commercially (Decawave Bespoon) exactly the same experimental conditions, in order to generate a critical analysis about their performances. The includes characterization of range error...
In GPS-denied indoor environments, localization and tracking of people can be achieved with a mobile device such as smartphone by processing the received signal strength (RSS) RF signals emitted from known location beacons (anchor nodes), combined Pedestrian Dead Reckoning (PDR) estimates user motion. An enhacement this technique is feasible if users themselves carry additional emitters (mobile cooperative position group persons incorporate RSS measurements exchanged between users. We...
Every year, for ten years now, the IPIN competition has aimed at evaluating real-world indoor localisation systems by testing them in a realistic environment, with movement, using EvAAL framework. The provided unique overview of state-of-the-art systems, technologies, and methods positioning navigation purposes. Through fair comparison performance achieved each system, was able to identify most promising approaches pinpoint critical working conditions. In 2020, included 5 diverse off-site...
These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, economize fuel or energy consumption, avoid speeding fines, focus all the driver’s attention steering vehicle. However, achieving efficient not easy in roads urban streets where sudden changes speed limit can happen, due presence unexpected obstacles maintenance work, causing,...
Unlike outdoor positioning, there is no unique solution to obtain the position of a person inside building or in Global Navigation Satellite System (GNSS)-denied areas. Typical implementations indoor rely on dead reckoning beacon-based but robust estimation must combine several techniques overcome their own drawbacks. In this paper, we present an positioning system based foot-mounted pedestrian (PDR) with efficient map matching, received signal strength (RSS) measurements, and improved...
The Extended Kalman Filter (EKF) has been the state of art in Pedestrian Dead-Reckoning for foot-mounted Inertial Measurements Units. However due to non-linearity propagation orientation EKF is not optimal Bayesian filter. We propose usage Unscented (UKF) as integration algorithm inertial measurements. UKF improves mean and covariance needed Although provides a better estimate orientation, with Zero velocity UPdaTes (ZUPT) measurements, yaw bias gyroscope associated it becomes unobserved...
In recent years, indoor localization systems have been the object of significant research activity and growing interest for their great expected social impact impressive business potential. Application areas include tracking navigation, monitoring, personalized advertising, Active Assisted Living (AAL), traceability, Internet Things (IoT) networks, Home-land Security. spite numerous advances industrial interest, no canned solutions yet defined. The diversity heterogeneity applications,...
The Indoor Positioning and Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. objective of this is to establish a systematic evaluation methodology with rigorous metrics both for real-time (on-site) post-processing (off-site) situations, realistic environment unfamiliar the prototype developers. For IPIN 2018 conference, was held on September 22nd, 2018, Atlantis, large shopping...
This paper presents the analysis and discussion of off-site localization competition track, which took place during Seventh International Conference on Indoor Positioning Navigation (IPIN 2016). Five international teams proposed different strategies for smartphone-based indoor positioning using same reference data. The competitors were provided with several smartphone-collected signal datasets, some used training (known trajectories), others evaluating (unknown trajectories). permits a...
The development of indoor positioning solutions using smartphones is a growing activity with an enormous potential for everyday life and professional applications. research activities on this topic concentrate the new that are tested in specific environments under their own evaluation metrics. To explore real quality smartphone-based capabilities seamlessly adapting to different scenarios, it needed find fair frameworks. design competitions extensive pre-recorded datasets valid way generate...
IPIN 2019 Competition, sixth in a series of competitions, was held at the CNR Research Area Pisa (IT), integrated into program Conference. It included two on-site real-time Tracks and three off-site Tracks. The four presented this paper were set same environment, made buildings close together for total usable area 1000 m <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> outdoors 6000 indoors over floors, with path length exceeding 500 m....
Indoor positioning is a thriving research area which slowly gaining market momentum. Its applications are mostly customised, ad hoc installations; ubiquitous analogous to GNSS for outdoors not available because of the lack generic platforms, widely accepted standards and interoperability protocols. In this context, Positioning Navigation (IPIN) competition only long-term, technically sound initiative monitor state art real systems by measuring their performance in realistic environment. Most...
This work presents a robot prototype designed and built for new aided fruit‐harvesting strategy in highly unstructured environments, involving human‐machine task distribution. The operator drives the robotic harvester performs detection of fruits by means laser range‐finder, computer precise location fruits, computes adequate picking sequences controls motion all mechanical components (picking arm gripper‐cutter). Throughout this work, specific design every module robotized fruit is...
Local positioning systems (LPSs) based on acoustic transducers (mainly ultrasonic) offer accurate localization in indoor environments. However, their performance is commonly limited by the transducers' frequency bandwidth and emission pattern. 3D-LOCUS a new advanced LPS that claims subcentimeter accuracy even turbulent This achieved through use of broadband omnidirectional transducers, suitable design emitted signals, proper calibration, bidirectional emissions. paper evaluates providing...
The main problem of Pedestrian Dead-Reckoning (PDR) using only a body-attached IMU is the accumulation heading errors. provided by magnetometers in indoor buildings general not reliable. Recently, new method was proposed called Heuristic Drift Elimination (HDE) that minimizes error when navigating buildings. It assumes majority have their corridors parallel to each other, or they intersect at right angles, and consequently most time person walks along straight path with constrained one four...
The received signal strength (RSS) of radiofrequency signals emitted from beacons placed at known locations in an environment, can be used by a local positioning system (LPS) to estimate the location person or mobile object. In indoor environments, interference, multipath propagation RF signals, and presence obstacles people, lead complex spatial distribution RSS, which is inaccurately described simple parametric models. this work, we present Bayesian method for RFID uses observation model...
The localization of persons in indoor environments is nowadays an open problem. There are partial solutions based on the deployment a network sensors (Local Positioning Systems or LPS). Other only require installation inertial sensor person’s body (Pedestrian Dead-Reckoning PDR). PDR integrate signals coming from Inertial Measurement Unit (IMU), which usually contains 3 accelerometers and gyroscopes. main problem accumulation positioning errors due to drift caused by noise sensors. This...