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Πεδίο DCΤιμήΓλώσσα
dc.contributor.authorHadjiloizou, Loizos-
dc.contributor.authorDeliparaschos, Kyriakos M.-
dc.contributor.authorMakridis, Evagoras-
dc.contributor.authorCharalambous, Themistoklis-
dc.date.accessioned2023-03-28T08:07:00Z-
dc.date.available2023-03-28T08:07:00Z-
dc.date.issued2022-12-04-
dc.identifier.citationIEEE Globecom Workshops, 2022, 4-8 Decemberen_US
dc.identifier.isbn9781665459754-
dc.identifier.urihttps://hdl.handle.net/20.500.14279/28873-
dc.description.abstractWe propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an Ultra-WideBand (UWB) localization system. The sensor readings from the camera-based object detection algorithm and the UWB localization system arrive intermittently, since the measurements are not readily available. We design a Kalman filter that manages intermittent observations in order to handle and fuse the readings and estimate the pose of the quadrotor for tracking a predefined trajectory. The system is implemented via a Hardware-in-the-loop (HIL) simulation technique, in which the dynamic model of the quadrotor is simulated in an open-source 3D robotics simulator tool, and the whole navigation system is implemented on Artificial Intelligence (AI) enabled edge GPU. The simulation results show that our proposed framework offers low positioning and trajectory errors, while handling intermittent sensor measurements.en_US
dc.formatpdfen_US
dc.language.isoenen_US
dc.relation.ispartofIEEE Globecom Workshopsen_US
dc.rights© IEEEen_US
dc.subjectsensor fusionen_US
dc.subjectpose estimationen_US
dc.subjectQuadrotor navigationen_US
dc.subjectindoor localizationen_US
dc.titleOnboard Real-Time Multi-Sensor Pose Estimation for Indoor Quadrotor Navigation with Intermittent Communicationen_US
dc.typeConference Papersen_US
dc.collaborationCyprus University of Technologyen_US
dc.collaborationKTH Royal Institute of Technologyen_US
dc.collaborationUniversity of Cyprusen_US
dc.subject.categoryElectrical Engineering - Electronic Engineering - Information Engineeringen_US
dc.countryCyprusen_US
dc.countrySwedenen_US
dc.subject.fieldEngineering and Technologyen_US
dc.identifier.doi10.1109/GCWkshps56602.2022.10008590en_US
dc.identifier.scopus2-s2.0-85146868717-
dc.identifier.urlhttps://api.elsevier.com/content/abstract/scopus_id/85146868717-
cut.common.academicyear2022-2023en_US
item.fulltextNo Fulltext-
item.languageiso639-1en-
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_c94f-
item.cerifentitytypePublications-
item.openairetypeconferenceObject-
crisitem.author.deptDepartment of Electrical Engineering, Computer Engineering and Informatics-
crisitem.author.facultyFaculty of Engineering and Technology-
crisitem.author.orcid0000-0003-0618-5846-
crisitem.author.parentorgFaculty of Engineering and Technology-
Εμφανίζεται στις συλλογές:Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation
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