Real-time kinematic Doppler pose estimation for IMES

Yoshihiro Sakamoto, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    In order to achieve the indoor localization with centimeter- to decimeter-level positioning accuracy under the use of the transmitters of 'indoor messaging system' (IMES), a method called 'real-time kinematic (RTK) Doppler pose estimation' is proposed. In this method, Doppler shifts are produced in the carrier waves transmitted from the IMES transmitters by moving the receiver antennas. The pose (position and orientation) of the receiver is then determined in real-time by using the Doppler shifts, inclination of the receiver, and geometric relation between the receiver antennas and transmitters. To evaluate the proposed method, an experiment with a mobile robot is conducted. The results of the experiment show that the proposed method can achieve a positioning accuracy of about 10 cm.

    Original languageEnglish
    Title of host publication2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
    Pages1300-1305
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW
    Duration: 2013 Jul 92013 Jul 12

    Other

    Other2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
    CityWollongong, NSW
    Period13/7/913/7/12

    Fingerprint

    Transmitters
    Kinematics
    Doppler effect
    Antennas
    Mobile robots
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Mechanical Engineering

    Cite this

    Sakamoto, Y., Ebinuma, T., Fujii, K., & Sugano, S. (2013). Real-time kinematic Doppler pose estimation for IMES. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 (pp. 1300-1305). [6584274] https://doi.org/10.1109/AIM.2013.6584274

    Real-time kinematic Doppler pose estimation for IMES. / Sakamoto, Yoshihiro; Ebinuma, Takuji; Fujii, Kenjiro; Sugano, Shigeki.

    2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. 2013. p. 1300-1305 6584274.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sakamoto, Y, Ebinuma, T, Fujii, K & Sugano, S 2013, Real-time kinematic Doppler pose estimation for IMES. in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013., 6584274, pp. 1300-1305, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013, Wollongong, NSW, 13/7/9. https://doi.org/10.1109/AIM.2013.6584274
    Sakamoto Y, Ebinuma T, Fujii K, Sugano S. Real-time kinematic Doppler pose estimation for IMES. In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. 2013. p. 1300-1305. 6584274 https://doi.org/10.1109/AIM.2013.6584274
    Sakamoto, Yoshihiro ; Ebinuma, Takuji ; Fujii, Kenjiro ; Sugano, Shigeki. / Real-time kinematic Doppler pose estimation for IMES. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. 2013. pp. 1300-1305
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