Robot-assisted human indoor localization using the Kinect sensor and smartphones

Chao Jiang, Muhammad Fahad, Yi Guo, Jie Yang, Yingying Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages4083-4089
Number of pages7
ISBN (Electronic)9781479969340
DOIs
StatePublished - 31 Oct 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 14 Sep 201418 Sep 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States
CityChicago
Period14/09/1418/09/14

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