TY - GEN
T1 - Robot-assisted human indoor localization using the Kinect sensor and smartphones
AU - Jiang, Chao
AU - Fahad, Muhammad
AU - Guo, Yi
AU - Yang, Jie
AU - Chen, Yingying
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - Human indoor localization was previously implemented using wireless sensor networks at the cost of sensing infrastructure deployment. Motivated by high density of smartphones in public spaces, we propose to use a robot-assisted localization system in which the low-cost Kinect sensor and smartphone-based acoustic relative ranging are used to localize moving human targets in indoor environments. An extended Kalman filter based localization algorithm is developed for real-time dynamic position estimation. We present both simulations and real robot-smartphone experiments demonstrating the performance with a localization accuracy of approximately 0.5m.
AB - Human indoor localization was previously implemented using wireless sensor networks at the cost of sensing infrastructure deployment. Motivated by high density of smartphones in public spaces, we propose to use a robot-assisted localization system in which the low-cost Kinect sensor and smartphone-based acoustic relative ranging are used to localize moving human targets in indoor environments. An extended Kalman filter based localization algorithm is developed for real-time dynamic position estimation. We present both simulations and real robot-smartphone experiments demonstrating the performance with a localization accuracy of approximately 0.5m.
UR - http://www.scopus.com/inward/record.url?scp=84911499608&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911499608&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943137
DO - 10.1109/IROS.2014.6943137
M3 - Conference contribution
AN - SCOPUS:84911499608
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4083
EP - 4089
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -