Real-time kinematic Doppler pose estimation for IMES

Yoshihiro Sakamoto, Takuji Ebinuma, Kenjiro Fujii, Shigeki Sugano

研究成果

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
ホスト出版物のサブタイトルMechatronics for Human Wellbeing, AIM 2013
ページ1300-1305
ページ数6
DOI
出版ステータスPublished - 2013 9 16
イベント2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia
継続期間: 2013 7 92013 7 12

出版物シリーズ

名前2013 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
国/地域Australia
CityWollongong, NSW
Period13/7/913/7/12

ASJC Scopus subject areas

  • 人工知能
  • 電子工学および電気工学
  • 機械工学

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