The videos in this page show some of the
research performed by the LOPSI group.
IMU signals at foot stance
IMU signals at foot stance. In pedestrian navigation (PDR)
it's assumed
that the velocity of the foot is zero during the stance of the foot on
the ground.
Here we can visualize tha accelerometer, gyroscope and magnetometer
signals along the stance period.
Signals sampled at 100 Hz, video
frames at 25 Hz. The colors used in the plots (Red, Green, Blue)
represent the IMU axes, respectively: X (forward), Y (lateral/left) and
Z axis (up).
Improved Heuristic Drift Elimination (iHDE) for IMU-based
Indoor Pedestrian Navigation
Dead-reckoning position estimation of a person walking in
buildings. The system uses 3-accelerometes and 3 gyroscopes (IMU)
installed on the person's foot. Heading is corrected using the
building's dominant directions, so no magnetic sensors are needed
(avoiding the use of the typically perturbated local Earth magnic
field). Positioning error is lower than 0.3% of Total Travelled
Distance (TTD), e.g. the trajectory of this video accumulates 1.5
metres positioning error in a 600-meter-long path. ( Video speed is
3x). More information: download publication pdf.
Indoor Pedestrian
Localization with IMU and RFID technology Localization of a person
walking in an indoor building using a foot-mounted IMU, with assistance
of an RFID system deployed in the building (the RFID reader is carried
by the person in his belt). Download publication PDF.
Indoor
Pedestrian
localization
with
RFID
technology Indoor localization of
a person using RF signals from RFID tags placed at known positions in
our building. The current position is displayed in a PDA. Demo video
presented as final report of the DEDALO project.
Ultrasonic indoor
localization A video of the prototype of the
3D-Locus ultrasonic positioning system, showing the beacon network, the
mobile node, and the user interface, demonstrating the subcentimeter
positioning in three dimensions using ultrasound trilateration.
Ultrasonic
Localization
of
Findings
in
Archaeology
The 3D-Locus ultrasonic
positioning system deployed at
the
Atapuerca
archaeological
site,
as
an
assistance
aid
for
determination of the exact coordinates
of fossils and other finds. Shows the traditional positioning methods
used by the archaelogical workers and how the process is automated with
the 3D-Locus.
Fruit
Picking
by
a
robot The fruit is located using a
laser tracker and image processing software, and the estimated position
is used by a robotic arm to collect the piece of fruit .
