Positioning and Tracking of Multiple Humans Moving in Small Rooms Based on a One-Transmitter–Two-Receiver UWB Radar Configuration

Fortes, Jana; Svingal, Michal; Porteleky, Tamas; Jurik, Patrik; Drutarovský, Miloš

doi:10.3390/s22145228

Cited by 14 publications

(4 citation statements)

References 42 publications

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“…In a herd environment in horses’ home enclosures, animals crossing between dyadic sensors and interference by other objects, such as hay feeders or stable walls can make visual tracking difficult. While UWB sensors, in contrast to visual methods, do not require line-of-sight, the radiofrequency signals they rely on can be significantly attenuated by water and hence bodies passing or standing between two tags can result in erroneously large distance readings 64 – 67 . Thus, validation of the UWB distance measurements for the particular complex conditions encountered in a horse herd is imperative.…”

Section: Discussionmentioning

confidence: 99%

Proximity tracking using ultra-wideband technology for equine social behaviour research

Torres Borda,

Roth,

Lumetzberger

et al. 2024

Sci Rep

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Sociopositive interactions with conspecifics are essential for equine welfare and quality of life. This study aimed to validate the use of wearable ultra-wideband (UWB) technology to quantify the spatial relationships and dynamics of social behaviour in horses by continuous (1/s) measurement of interindividual distances. After testing the UWB devices’ spatiotemporal accuracy in a static environment, the UWB measurement validity, feasibility and utility under dynamic field conditions was assessed in a group of 8 horses. Comparison of the proximity measurements with video surveillance data established the measurement accuracy and validity (r = 0.83, p < 0.0001) of the UWB technology. The utility for social behaviour research was demonstrated by the excellent accordance of affiliative relationships (preferred partners) identified using UWB with video observations. The horses remained a median of 5.82 m (95% CI 5.13–6.41 m) apart from each other and spent 20% (median, 95% CI 14–26%) of their time in a distance ≤ 3 m to their preferred partner. The proximity measurements and corresponding speed calculation allowed the identification of affiliative versus agonistic approaches based on differences in the approach speed and the distance and duration of the resulting proximity. Affiliative approaches were statistically significantly slower (median: 1.57 km/h, 95% CI 1.26–1.92 km/h, p = 0.0394) and resulted in greater proximity (median: 36.75 cm, 95% CI 19.5–62 cm, p = 0.0003) to the approached horse than agonistic approaches (median: 3.04 km/h, 95% CI 2.16–3.74 km/h, median proximity: 243 cm, 95% CI 130–319 cm), which caused an immediate retreat of the approached horse at a significantly greater speed (median: 3.77 km/h, 95% CI 3.52–5.85 km/h, p < 0.0001) than the approach.

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Section: Discussionmentioning

confidence: 99%

Proximity tracking using ultra-wideband technology for equine social behaviour research

Torres Borda,

Roth,

Lumetzberger

et al. 2024

Sci Rep

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“…Many studies have explored the placement of antennas to optimize radiation and polarization. For instance, Fortes et al [31] found that the appropriate placement of antennas depended on the height of the antennas. This study investigated the antennas from a height of 1.3 m to 2.5 m, which resulted in a declining mean tracking error from 47 cm to 26 cm.…”

Section: Discussionmentioning

confidence: 99%

Ultra-Wideband-Based Time Occupancy Analysis for Safety Studies

Fakhoury,

Ismail

2023

Sensors

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This study investigates the use of ultra-wideband (UWB) tags in traffic conflict techniques (TCT) for the estimation of time occupancy in a real-world setting. This study describes UWB technology and its application in the TCT framework. Many experiments were conducted to evaluate the accuracy of the occupancy time measurement using a UWB-based tag. The UWB performance was measured using data from UWB tags as well as a video camera system by subtracting the time occupancy within a conflict zone. The results show that the UWB-based system can be utilized to estimate occupancy time with a mean absolute error difference from ground truth measurements of 0.43 s in the case of using two tags and 0.06 s in the case of using one tag in an 8 m × 8 m study area with double-sided two-way communication. This study also highlights the advantages and limitations of using UWB technology in TCT and discusses potential applications and future research directions. The findings of this study suggest that the UWB-based localization of multiple tags needs further improvements to enable consistent multi-tag tracking. In future work, this technology could be utilized to estimate post-encroachment time (PET) in various traffic scenarios, which could improve road safety and reduce the risk of collisions.

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“…The mobile tag position is determined by measuring time of arrival (ToA) or time difference of arrival (TDoA), based on at least three stationary anchors with known positions. The average positioning error, obtained in [10,11], is on order tens of centimeter for a range of hundreds of centimeters. Thus, the relatively low accuracy is the main drawback of using radio technologies with a high accuracy is acquired.…”

Section: Introductionmentioning

confidence: 95%

Closed-Loop Optical Tracking of a Micro-Conveyor over a Smart Surface

Malak,

Hajjar,

Dupont

et al. 2024

JSAN

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In this work, a closed loop control system is developed to optically localize and track micro-robots with high precision. These micro-robots (i.e., micro-conveyors) are in motion simultaneously across a smart surface.The developed method’s primary objectives are to optimize their trajectories, avoid collisions between them, and control their position with micrometric resolution. This article presents and characterizes the tracking of a single micro-conveyor, and the method works similarly when multiple micro-robots move over the surface. Our tracking method starts with a scanning phase, where a 2D steering mirror, placed above the smart surface, reflects a laser beam toward the conveying surface seeking for the target. Localization occurs when this light beam reaches the micro-conveyor. By adding a retro-reflective element, that reflects the light in the same direction of the the incident light, onto the surface of the micro-conveyor, the light will be reflected towards a photodetector. Depending on the feedback from the photodetector, the steering mirror rotates to track the trajectory of the micro-conveyor. The tip-tilt angular values of the steering mirror allows the micro-conveyor position to be obtained via calibrated localization system. The aim of this work is to regulate the micro-conveyor, within a closed-loop control system, to reduce the positional error between the actual and desired position. The actual position value is measured in real-time application using our developed optical sensor. Results for tracking in the x-and y-axis have validated the proposed method, with an average tracking error less than 30 µm within a range 150 mm × 150 mm.

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Positioning and Tracking of Multiple Humans Moving in Small Rooms Based on a One-Transmitter–Two-Receiver UWB Radar Configuration

Cited by 14 publications

References 42 publications

Proximity tracking using ultra-wideband technology for equine social behaviour research

Proximity tracking using ultra-wideband technology for equine social behaviour research

Ultra-Wideband-Based Time Occupancy Analysis for Safety Studies

Closed-Loop Optical Tracking of a Micro-Conveyor over a Smart Surface

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