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Computer Vision without Vision : Methods and Applications of Radio and Audio Based SLAM

Batstone, Kenneth John LU (2020)
Abstract
The central problem of this thesis is estimating receiver-sender node positions from measured receiver-sender distances or equivalent measurements. This problem arises in many applications such as microphone array calibration, radio antenna array calibration, mapping and positioning using ultra-wideband and mapping and positioning using round-trip-time measurements between mobile phones and Wi-Fi-units. Previous research has explored some of these problems, creating minimal solvers for instance, but these solutions lack real world implementation. Due to the nature of using different media, finding reliable receiver-sender distances is tough, with many of the measurements being erroneous or to a worse extent missing. Therefore in this... (More)
The central problem of this thesis is estimating receiver-sender node positions from measured receiver-sender distances or equivalent measurements. This problem arises in many applications such as microphone array calibration, radio antenna array calibration, mapping and positioning using ultra-wideband and mapping and positioning using round-trip-time measurements between mobile phones and Wi-Fi-units. Previous research has explored some of these problems, creating minimal solvers for instance, but these solutions lack real world implementation. Due to the nature of using different media, finding reliable receiver-sender distances is tough, with many of the measurements being erroneous or to a worse extent missing. Therefore in this thesis, we explore using minimal solvers to create robust solutions, that encompass small erroneous measurements and work around missing and grossly erroneous measurements.

This thesis focuses mainly on Time-of-Arrival measurements using radio technologies such as Two-way-Ranging in Ultra-Wideband and a new IEEE standard 802.11mc found on many WiFi modules. The methods investigated, also related to Computer Vision problems such as Stucture-from-Motion. As part of this thesis, a range of new commercial radio technologies are characterised in terms of ranging in real world enviroments. In doing so, we have shown how these technologies can be used as a more accurate alternative to the Global Positioning System in indoor enviroments. Further to these solutions, more methods are proposed for large scale problems when multiple users will collect the data, commonly known as Big Data. For these cases, more data is not always better, so a method is proposed to try find the relevant data to calibrate large systems. (Less)
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author
supervisor
opponent
  • Prof. Kuusniemi, Heidi, University of Vaasa, Finland.
organization
publishing date
type
Thesis
publication status
published
subject
keywords
TOA, Self-Calibration, Localization, 802.11mc, Round-Trip Time
pages
192 pages
publisher
Mathematics Centre for Mathematical Sciences Lund University Lund
defense location
Lecture hall MH:Gårding, Matematicum, Sölvegatan 18, Faculty of Engineering LTH, Lund University, Lund
defense date
2020-10-02 13:15:00
ISSN
1404-0034
ISBN
9789178956203
9789178956210
language
English
LU publication?
yes
id
36a2defe-562b-4320-abce-4d25692ee52c
date added to LUP
2020-09-04 16:00:02
date last changed
2020-09-08 14:57:58
@phdthesis{36a2defe-562b-4320-abce-4d25692ee52c,
  abstract     = {{The central problem of this thesis is estimating receiver-sender node positions from measured receiver-sender distances or equivalent measurements. This problem arises in many applications such as microphone array calibration, radio antenna array calibration, mapping and positioning using ultra-wideband and mapping and positioning using round-trip-time measurements between mobile phones and Wi-Fi-units. Previous research has explored some of these problems, creating minimal solvers for instance, but these solutions lack real world implementation. Due to the nature of using different media, finding reliable receiver-sender distances is tough, with many of the measurements being erroneous or to a worse extent missing. Therefore in this thesis, we explore using minimal solvers to create robust solutions, that encompass small erroneous measurements and work around missing and grossly erroneous measurements.<br/><br/>This thesis focuses mainly on Time-of-Arrival measurements using radio technologies such as Two-way-Ranging in Ultra-Wideband and a new IEEE standard 802.11mc found on many WiFi modules. The methods investigated, also related to Computer Vision problems such as Stucture-from-Motion. As part of this thesis, a range of new commercial radio technologies are characterised in terms of ranging in real world enviroments. In doing so, we have shown how these technologies can be used as a more accurate alternative to the Global Positioning System in indoor enviroments. Further to these solutions, more methods are proposed for large scale problems when multiple users will collect the data, commonly known as Big Data. For these cases, more data is not always better, so a method is proposed to try find the relevant data to calibrate large systems.}},
  author       = {{Batstone, Kenneth John}},
  isbn         = {{9789178956203}},
  issn         = {{1404-0034}},
  keywords     = {{TOA; Self-Calibration; Localization; 802.11mc; Round-Trip Time}},
  language     = {{eng}},
  month        = {{09}},
  publisher    = {{Mathematics Centre for Mathematical Sciences Lund University Lund}},
  school       = {{Lund University}},
  title        = {{Computer Vision without Vision : Methods and Applications of Radio and Audio Based SLAM}},
  url          = {{https://lup.lub.lu.se/search/files/83419053/Thesiswithcover_newabstract.pdf}},
  year         = {{2020}},
}