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
Subtitle of host publicationMechatronics for Human Wellbeing, AIM 2013
Pages1300-1305
Number of pages6
DOIs
Publication statusPublished - 2013 Sep 16
Event2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia
Duration: 2013 Jul 92013 Jul 12

Publication series

Name2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

Conference

Conference2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
CountryAustralia
CityWollongong, NSW
Period13/7/913/7/12

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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] (2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013). https://doi.org/10.1109/AIM.2013.6584274