Filtering and Tracking for a Pedestrian Dead-Reckoning System by Surat Kwanmuang Co-Chairs: A. Galip Ulsoy and Edwin Olson This thesis proposes a leader-follower system in which a robot, equipped with relatively sophisticated sensors, tracks and follows a human whose equipped with a low-fidelity odometry sensor called a Pedestrian Dead-Reckoning (PDR) device. Such a system is useful for “pack m...

This paper proposes a new approach to mobile robot navigation using 3D vision and artificial landmarks. The Photo Mixer Device (PMD) technology, working on the principle of time of flight (TOF), provides the capability for the position calibration of a mobile robot in an indoor environment. In this work, the PMD camera, which provides a distance value for each pixel, results in an innovation in...

This paper describes practical, effective approaches to stereo perception and dead reckoning, and presents results from systems implemented for a prototype lunar rover operating in natural, outdoor environments. The stereo perception hardware includes a binocular head mounted on a motion-averaging mast. This head provides images to a normalized correlation matcher, that intelligently selects wh...

Human-to-human interaction across distributed applications requires that sufficient consistency be maintained among participants in the face of network characteristics such as latency and limited bandwidth. The level of inconsistency arising from the network is proportional to the network delay, and thus a function of bandwidth consumption. Distributed simulation has often used a bandwidth redu...

Animals can locate their present position in relation to a starting point and return to that starting point using cues generated by self-movement, a navigation strategy called dead-reckoning. Because contemporary research on spatial navigation suggests that some aspects of spatial navigation depend on the integrity of the hippocampal formation, whereas others do not, the present study examined ...

Given an omni-directional mobile platform using four Mecanum wheels, it requires further a capability being programmed to achieve various motion behaviours and intelligence. This paper describes an undergraduate solution to the problem involving both hardware and software developments. With a path following behaviour as the aim, the research focused mainly upon sensors for dead-reckoning, motor...

This paper proposes an integrated framework for fault prediction in the robot dead reckoning system. The integrated framework is built by particle filter and support vector machine (SVM). On the basis, the weighted fault probability parameters can be extracted to train the prediction model. Different from the traditional particle filter fault prediction model, the proposed framework can overcom...

This paper describes an embedded pedestrian navigation system composed of a self-contained sensors, the Global Positioning System (GPS) and an active Radio Frequency Identification (RFID) tag system. We use self-contained sensors (accelerometers, gyrosensors and magnetometers) to estimate relative displacement by analyzing human walking locomotion. The GPS is used outdoors to adjust errors in p...

This paper discusses the design of a very general architectural framework for navigation and tracking systems that fuse dead-reckoning sensors (e.g. inertial or encoders) with environment-referenced sensors, such as ultrasonic, optical, magnetic, or RF sensors. The framework enables systems that simultaneously track themselves, construct a map of landmarks in the environment, and calibrate sens...

In this paper, we propose an innovative and low-cost hybrid indoor positioning system using various sensors on the mobile platform. This system consists of a pedestrian dead reckoning (PDR) part based on the encapsulated Application Programming Interface (API) of Apple’s iOS platform and a low-cost Bluetooth Low Energy (BLE) fingerprinting calibration part. Pedestrian position information can b...