ETH - Indoor Positioning & Indoor Navigation


16:00 - 16:30	Juergen Graefenstein (presenting author, at Bosch GmbH), Amos Albert, Peter Biber, Andreas Schilling: Simultaneous Mobile Robot and Radio Node Localization in Wireless Sensor Networks Accurate and cost effective localization is a basic issue in the field of mobile robotics. This work shows how it can be solved by using wireless radio nodes as landmarks. Mechanical scanning is employed at the mobile robot to measure the angle of arrival of radio signals. A measurement integrity check is realized by means of normalized cross correlation. This enables the recognition of multi path propagation and radio interferers, thereby ensuring high robustness. A simultaneous localization and mapping approach is implemented to localize the robot and to build a map of static radio nodes simultaneously. This allows localizing the robot in unknown environments in an ad hoc and unobtrusive fashion.

16:30 - 17:00	Christoph Stahl (presenting author), Tim Schwartz: Modeling and Simulating Assistive Environments in 3-D with the YAMAMOTO Toolkit We present the map modelling toolkit YAMAMOTO, which allows to efficiently model and design assistive building environments in 3-D. We focus on the tool’s ability to represent and simulate sensors and actuators, i.e. navigational beacons used for indoor positioning and navigation purposes. An interactive avatar can be used to simulate and evaluate location-based applications in the virtual model. Vice versa, the model can be used to visualize the state of the real world, including the location of the user and the content of public displays.

17:00 - 17:30	Kourosh Khoshelham (presenting author): Automated Localization of a Laser Scanner in Indoor Environments Using Planar Objects A method is presented for automated localization of a laser scanner in an indoor environment. Planar features extracted from the range data undergo a linear plane matching model to estimate the relative scanner positions in consecutive scans. The performance of the method is demonstrated using a dataset of six panoramic scans of an interior, and the accuracy evaluation of the computed positions indicates localization errors of a few centimeters.

17:30 - 17:45	Tobias Deißler (presenting author), Jörn Thielecke: UWB SLAM with Rao-Blackwellized Monte Carlo Data Association In situations where the environment is filled with dust or smoke, like in many emergency scenarios, UWB Radar is a possible technology to still sense the surrounding and build maps, thus helping firemen and other rescue personal. In this paper, a method is presented to solve the SLAM (simultaneous localization and mapping) problem using UWB radar with a bat-type antenna array consisting of two RX antennas and one TX antenna in the middle. Features of the surroundings are used as landmarks for navigation. The main challenge of this approach is the problem of data association, i.e. the task of assigning measurements to corresponding landmarks. A solution is presented in this article using a Rao-Blackwellized particle filter.

17:45 - 18:00	Zoltán Tuza, János Rudan (presenting author at PPKE Budapest), Gábor Szederkényi: Developing an Integrated Software Environment for Mobile Robot Navigation and Control A flexible modular robotic software environment based on the popular MRPT toolkit is reported in this paper that is able to easily integrate path planning, navigation and control algorithms from several sources. The different modules (responsible for SLAM, trajectory tracking, sensor and actuator handling, visualization etc.) communicate with each other via a carefully developed network based protocol set that ensures transparency and robust operation. The system can also be used as a simulation environment and it is capable for the comparative benchmarking of different navigation algorithms. The laser scanner based map building and navigation of an autonomous wheelchair is shown as an application example to illustrate the features of the developed software environment.

Oral Presentations (Poster Teasers)

Wednesday, September 15
Auditorium D8


18:00 - 18:02	Esteban Tobias Bayro Kaiser (at TZI Bremen): Indoor Pedestrian Simultaneous Localization and Mapping (Poster Teaser) This extended abstract presents a doctoral project in its initial phase. The objective is to implement a precise localization and mapping system able to track a pedestrian in known and unknown environments. To achieve this, the method will be the well-known SLAM (Simultaneous Localization and Mapping) used for mobile robots. The pedestrian will be equipped with a short-range laser scanner, an inertial measurement unit (IMU), and a wearable computer for processing purposes. To obtain localization, the sensor data will be fused and processed with an algorithm based on the Extended Kalman Filter and Rao-Blackwellized Particle Filters. Mapping will be achieved with grid mapping.

18:02 - 18:04	Birutė Ruzgienė: Creation of an Urban Spatial Model for In-City Positioning Using Laser-Scanning (Poster Teaser) The investigations are based on the evaluation and the analyzes of high accuracy LIDAR images taken over Lithuanian cities, thereby taking into account the geodetic control measurements and foreign expert experience. The progressive aerial laser scanning approach with combination of digital photogrammetry technology, – a GPS-IMU system and a digital aerial photography have been used for the creation the urban spatial model. The application feasibility is investigated. A description of equipment, technological features and application possibilities is presented.

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