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Trilateration Using Motion Models

Larsson, Martin LU orcid ; Tegler, Erik LU ; Astrom, Kalle LU orcid and Oskarsson, Magnus LU orcid (2022) 25th International Conference on Information Fusion, FUSION 2022 p.01-07
Abstract

In this paper, we present a framework for doing localization from distance measurements, given an estimate of the local motion. We show how we can register the local motion of a receiver, to a global coordinate system, using trilateration of given distance measurements from the receivers to senders in known positions. We describe how many different motion models can be formulated within the same type of registration framework, by only changing the transformation group. The registration is based on a test and hypothesis framework, such as RANSAC, and we present novel and fast minimal solvers that can be used to bootstrap such methods. The system is tested on both synthetic and real data with promising results.

Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
IMU, minimal solvers, motion model, odometry, RANSAC, time-of-arrival, Trilateration
host publication
2022 25th International Conference on Information Fusion, FUSION 2022
pages
01 - 07
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
25th International Conference on Information Fusion, FUSION 2022
conference location
Linkoping, Sweden
conference dates
2022-07-04 - 2022-07-07
external identifiers
  • scopus:85136555411
ISBN
9781737749721
DOI
10.23919/FUSION49751.2022.9841240
language
English
LU publication?
yes
additional info
Publisher Copyright: © 2022 International Society of Information Fusion.
id
b5680189-3575-4df0-847f-6af87ee9e066
date added to LUP
2022-10-04 09:47:47
date last changed
2023-11-21 08:10:23
@inproceedings{b5680189-3575-4df0-847f-6af87ee9e066,
  abstract     = {{<p>In this paper, we present a framework for doing localization from distance measurements, given an estimate of the local motion. We show how we can register the local motion of a receiver, to a global coordinate system, using trilateration of given distance measurements from the receivers to senders in known positions. We describe how many different motion models can be formulated within the same type of registration framework, by only changing the transformation group. The registration is based on a test and hypothesis framework, such as RANSAC, and we present novel and fast minimal solvers that can be used to bootstrap such methods. The system is tested on both synthetic and real data with promising results. </p>}},
  author       = {{Larsson, Martin and Tegler, Erik and Astrom, Kalle and Oskarsson, Magnus}},
  booktitle    = {{2022 25th International Conference on Information Fusion, FUSION 2022}},
  isbn         = {{9781737749721}},
  keywords     = {{IMU; minimal solvers; motion model; odometry; RANSAC; time-of-arrival; Trilateration}},
  language     = {{eng}},
  pages        = {{01--07}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Trilateration Using Motion Models}},
  url          = {{http://dx.doi.org/10.23919/FUSION49751.2022.9841240}},
  doi          = {{10.23919/FUSION49751.2022.9841240}},
  year         = {{2022}},
}