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A Novel Cross-Attention-Based Pedestrian Visual–Inertial Odometry With Analyses Demonstrating Challenges in Dense Optical Flow

Visual–inertial odometry (VIO), the fusion of visual and inertial sensor data, has been shown to be functional for navigation in global-navigation-satellite-system-denied environments. Recently, dense-optical-flow-based end-to-end trained deep learning VIO models have gained superior performance in outdoor navigation. In this article, we introduced a novel visual–inertial sensor fusion approach based on vision transformer architecture with a

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An Experimental Evaluation Based on Direction Finding Specification for Indoor Localization and Proximity Detection

Radio-frequency technologies have been largely explored to deliver reliable indoor localization systems. However, at the current stage, none of the proposed technologies represent a de-facto standard. Although RSS-based (received signal strength) techniques have been extensively studied, they suffer of a number of side-effects mainly caused by the complexity of radio propagation in indoor environments. A

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Indoor Group Identification and Localization Using Privacy-Preserving Edge Computing Distributed Camera Network

Social interaction behaviors change as a result of both physical and psychiatric problems, and it is important to identify subtle changes in group activity engagements for monitoring the mental health of patients in clinics. This work proposes a system to identify when and where group formations occur in an approximately 1700 $ text{m}^{2}$ therapeutic built environment

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Radar-Based Millimeter-Wave Sensing for Accurate 3-D Indoor Positioning: Potentials and Challenges

The 3-D nature of modern smart applications has imposed significant 3-D positioning accuracy requirements, especially in indoor environments. However, a major limitation of most existing indoor localization systems is their focus on estimating positions mainly in the horizontal plane, overlooking the crucial vertical dimension. This neglect presents considerable challenges in accurately determining the 3-D position

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A Multichannel Approach and Testbed for Centimeter-Level WiFi Ranging

Latest advancements in WiFi ranging enable the use of both timestamps and channel frequency response (CFR) measurements supporting the recently released IEEE 802.11az Next Generation Positioning standard. However, resolution limitations are imposed by the single-channel bandwidth of operation, and WiFi devices that can only operate using 20 MHz channels on a given time instance suffer

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Offsite Evaluation of Localization Systems: Criteria, Systems, and Results From IPIN 2021 and 2022 Competitions

Indoor positioning is a thriving research area, which is slowly gaining market momentum. Its applications are mostly customized, ad hoc installations; ubiquitous applications analogous to Global Navigation Satellite System for outdoors are not available because of the lack of generic platforms, widely accepted standards and interoperability protocols. In this context, the indoor positioning and indoor

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Integrating Indoor Localization Systems Through a Handoff Protocol

The increasing adoption of location-based services drives the pervasive adoption of localization systems available anywhere. Environments equipped with multiple indoor localization systems (ILSs) require managing the transition from one ILS to another in order to continue localizing the user’s device even when moving indoor or outdoor. In this article, we focus on the handoff procedure,

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PoE-Enabled Visible Light Positioning Network With Low Bandwidth Requirement and High Precision Pulse Reconstruction

The power over Ethernet (PoE)-enabled visible light positioning (VLP) networks as a promising technology can significantly enhance accuracy and cost-effectiveness of indoor positioning. However, both the limited bandwidth of the light-emitting diode (LED) and the low sampling rate of the receiver have a negative impact on the positioning performance. Moreover, time synchronization requirements between transmitters

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Spoofing Evident and Spoofing Deterrent Localization Using Ultrawideband (UWB) Active–Passive Ranging

This article presents UnSpoof, an ultrawideband localization system that can detect and localize distance-spoofing tags with a few collaborative passively receiving anchors. We propose novel formulations that enable passively receiving anchors to deduce their time-of-flight (ToF) and time-difference-of-arrival (TDoA) just by overhearing standard two-way ranging messages between the tag and one active anchor. Our ToF

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