CELIDON: Supporting First Responders through 3D AOA-based UWB Ad-Hoc Localization

Tiemann, Janis; Fuhr, Oliver; Wietfeld, Christian

doi:10.1109/wimob50308.2020.9253377

Cited by 8 publications

(5 citation statements)

References 17 publications

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“…Exemplary, Narayanan et al (2014) show that micro-Doppler signatures may be used to detect certain body motions, including breathing. UWB sensors have also been shown to be well applicable in firefighting (Tiemann et al, 2020). Bartsch et al (2012) emphasize that human gait modeling approaches, like in Ahtiainen et al (2010), Rohling et al (2010) or Held et al (2022), always require a sequence of scans rather than a single frame to be analyzed.…”

Section: Radar-based Leg Trackingmentioning

confidence: 99%

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Multiposture leg tracking for temporarily vision restricted environments based on fusion of laser and radar sensor data

Mandischer

Hou

Corves

2023

Journal of Field Robotics

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Leg tracking is an established field in mobile robotics and machine vision in general.These algorithms, however, only distinguish the scene between leg and nonleg detections. In application fields like firefighting, where people tend to choose squatting or crouching over standing postures, those methods will inevitably fail.Further, tracking based on a single sensor system may reduce the overall reliability if brought to outdoor or complex environments with limited vision on the target objectives. Therefore, we extend our recent work to a multiposture detection system based on laser and radar sensors, that are fused to allow for maximal reliability and accuracy in scenarios as complex as indoor firefighting with vastly limited vision. The proposed tracking pipeline is trained and extensively validated on a new data set. We show that the radar tracker reaches state-of-the-art performance, and that laser and fusion tracker outperform recent methods.

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Section: Radar-based Leg Trackingmentioning

confidence: 99%

“…Qian et al (2020) use Joint Probabilistic Data Association on ultra‐wideband (UWB) sensors for people tracking with noise suppression. UWB sensors have also been shown to be well applicable in firefighting (Tiemann et al, 2020).…”

Section: Related Workmentioning

confidence: 99%

Multiposture leg tracking for temporarily vision restricted environments based on fusion of laser and radar sensor data

Mandischer

Hou

Corves

2023

Journal of Field Robotics

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“…where τ i,1 is the time difference between antenna i and 1. φ(i, 1) is the actual phase difference between antenna i and 1. Substitute Equation (8) in Equation ( 17), and rearrange, we get…”

Section: Initial Valuementioning

confidence: 99%

“…It is required in many UWB applications such as single anchor UWB localization system [1], UAVs collision avoidance [2][3][4], takeoff/ landing guidance [5,6], Internet-of-Things (IoT) devices, and vehicular-to-everything (V2X) communication [7]. Current antenna arrays applied in UWB localization, such as Uniform Circular Array (UCA), Uniform Linear Array (ULA) [8,9], have restrictions on their detection angle range in both azimuth and elevation.…”

Section: Introductionmentioning

confidence: 99%

“…Tiemann et al [8] tested a UWB location system based on three synchronized UWB transceivers mounted on the helmet for supporting first responders through 3D location of fellows and victims in a low visibility environment. This antenna array consists of 2 ULAs perpendicular to each other, for measuring the Angle of Arrival (AoA) in the x-axis and y-axis respectively, using PDoA [10] of antennas.…”

Section: Introductionmentioning

confidence: 99%

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All-Directional DOA Estimation for Ultra-Wideband Regular Tetrahedral Array Using Wrapped PDoA

Luo

Zhang

Yang

et al. 2022

Sensors

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In this paper, we proposed a Regular Tetrahedral Array (RTA) to cope with various types of sensors expected in Ultra-Wideband (UWB) localization requiring all-directional detection capability and high accuracy, such as indoor Internet-of-Things (IoT) devices at diverse locations, UAVs performing aerial navigation, collision avoidance and takeoff/landing guidance. The RTA is deployed with four synchronized Ultra-Wideband (UWB) transceivers on its vertexes and configured with arbitrary aperture. An all-directional DOA estimation algorithm using combined TDoA and wrapped PDoA was conducted. The 3D array RTA was decomposed into four planar subarrays solved as phased Uniform Circular Array (UCA) respectively. A new cost function based on geometric identical and variable neighborhood search strategy using TDoA information was proposed for ambiguity resolution. The results of simulation and numerical experiments demonstrated excellent performance of the proposed RTA and corresponding algorithm.

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A survey of indoor positioning systems based on a six-layer model

Sartayeva,

Chan,

et al. 2023

Computer Networks

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CELIDON: Supporting First Responders through 3D AOA-based UWB Ad-Hoc Localization

Cited by 8 publications

References 17 publications

Multiposture leg tracking for temporarily vision restricted environments based on fusion of laser and radar sensor data

Multiposture leg tracking for temporarily vision restricted environments based on fusion of laser and radar sensor data

All-Directional DOA Estimation for Ultra-Wideband Regular Tetrahedral Array Using Wrapped PDoA

A survey of indoor positioning systems based on a six-layer model

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