A5059726642- Indoor and Outdoor Localization Technologies
- Robotics and Sensor-Based Localization
- 3D Surveying and Cultural Heritage
- Advanced Vision and Imaging
- Gait Recognition and Analysis
- Target Tracking and Data Fusion in Sensor Networks
- Inertial Sensor and Navigation
- Underwater Vehicles and Communication Systems
- Network Time Synchronization Technologies
- Video Surveillance and Tracking Methods
- Energy Efficient Wireless Sensor Networks
- Modular Robots and Swarm Intelligence
- Robotic Path Planning Algorithms
- Speech and Audio Processing
- GNSS positioning and interference
Zhejiang International Studies University
2025
Beihang University
2018-2025
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...
Smartphone-based pedestrian dead reckoning (PDR) has been widely used indoors for continuous localization. However, the specific tracking solutions under different modes are vulnerable to mode transition and thus degrading performance. The robustness of navigation may be weakened due mix smartphone motions walking patterns. Due this challenge, most existing PDR methods assume that is carried in a certain pose, such as handheld horizontally, swinging, calling, pocketed, ignoring short period...
Due to the low-quality sensors of consumer-grade devices, such as smartphones, traditional point-based visual–inertial simultaneous localization and mapping (SLAM) techniques applied smartphones commonly suffer from low accuracy potential tracking divergence. Incorporating more measurements can enhance performance robustness, but additional computational consumption may not satisfy real-time requirements in mobile location-based services, pedestrian positioning. For SLAM applications focused...
Simultaneous localization and mapping (SLAM) is currently a widely used technology for indoor positioning. Many studies have focused on the smartphone-based navigation its portability feature-rich sensors. But due to low-quality sensors complex environments, current SLAM-based positioning using smartphones still poses great challenges, such as inherent cumulative global drift potential divergence facing texture-less regions. For regular gait characteristics of pedestrians when naturally...
Abstract Pedestrian dead reckoning (PDR) is widely used in handheld indoor positioning systems. However, low-cost inertial sensors built into smartphones provide poor-quality measurements, resulting cumulative error which consists of heading estimation caused by gyroscope and step length an accelerometer. Learning more motion features through limited measurements important to improve accuracy. This paper proposes improved PDR system using smartphone sensors. Using gyroscope, two patterns,...
In an intelligent information society, indoor pedestrian navigation systems based on inertial sensors are becoming increasingly important due to the advantages of autonomy and continuity in positioning. However, these cannot estimate altitude because divergence channels complexity movement patterns. To address this challenge, article proposes estimation method utilizing measurement unit (IMU) sensor installed pedestrian's foot. Specifically, calculates height difference steps with system...
Point-based simultaneous localization and mapping (SLAM) algorithms tend to degrade in texture-less indoor environments. Considering the pervasive presence structural regularity of line features artificial scenes, many researchers have developed line-based SLAM systems incorporating information, such as vanishing points (VPs). However, VP estimation introduces additional computational resource consumption, which degrades real-time performance systems. In this letter, we propose an efficient...
Calibration and initialization of point feature-based SLAM systems are prone to performance degradation in challenging environments where rapid motion texture-less areas present. Inaccurate calibration results can introduce additional errors backend optimization, thereby affecting the localization performance. Difficulty convergence also limits practical application systems. The structure line segment features present more stability compact spatial constraint, which provide structural...
Reliable outdoor navigation is a critical technology in wide range of applications such as autonomous driving and unmanned vehicles. Low-cost GNSS-Visual-Inertial-Odometry (GVIO) systems have received great attention from researchers since that they can achieve accurate global state estimation without drift. Nonetheless, The performance the current algorithm not good enough scene with severe GNSS occlusion, computational efficiency needs to be improved. In this paper, we present an EKF-based...
A WiFi-received signal strength index (RSSI) fingerprinting-based indoor positioning system (WiFi-RSSI IPS) is widely studied due to advantages of low cost and high accuracy, especially in a complex environment where performance the ranging method limited. The key drawback that limits large-scale deployment WiFi-RSSI IPS time-consuming offline site surveys. To solve this problem, we developed using multi-mounted devices construct lightweight site-survey radio map (LSS-RM) for WiFi...