NDLI: Target tracking without line of sight using range from radio

Content Provider	Springer Nature Link
Author	Hollinger, Geoffrey A. Djugash, Joseph Singh, Sanjiv
Copyright Year	2011
Abstract	We propose a framework for utilizing fixed ultra-wideband ranging radio nodes to track a moving target radio node in an environment without guaranteed line of sight or accurate odometry. For the case where the fixed nodes’ locations are known, we derive a Bayesian room-level tracking method that takes advantage of the structural characteristics of the environment to ensure robustness to noise. For the case of unknown fixed node locations, we present a two-step approach that first reconstructs the target node’s path using Gaussian Process Latent Variable models (GPLVMs) and then uses that path to determine the locations of the fixed nodes. We present experiments verifying our algorithm in an office environment, and we compare our results to those generated by online and batch SLAM methods, as well as odometry mapping. Our algorithm is successful at tracking a moving target node without odometry and mapping the locations of fixed nodes using radio ranging data that are both noisy and intermittent.
Starting Page	1
Ending Page	14
Page Count	14
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	32
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2011-07-12
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Range sensing Sensor networks Target tracking Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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