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- ITO Toshio
- University of Tokyo
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- SATO Tetsuya
- University of Tokyo
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- TULATHIMUTTE Kan
- University of Tokyo
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- SUGIMOTO Masanori
- University of Tokyo
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- HASHIZUME Hiromichi
- National Institute of Informatics
この論文をさがす
抄録
We have introduced a new ultrasonic-based localization method that requires only one ultrasonic receiver to locate transmitters. In our previous reports [1],[2], we conducted several fundamental experiments, and proved the feasibility and accuracy of our system. However the performance in a more realistic environment has not yet been evaluated. In this paper, we have extended our localization system into a robot tracking system, and conducted experiments where the system tracked a moving robot. Localization was executed both by our proposed method and by the conventional TOA method. The experiment was repeated with different density of receivers. Thus we were able to compare the accuracy and the scalability between our proposed method and the conventional method. As a result 90-percentile of the position error was from 6.2cm to 14.6cm for the proposed method, from 4.0cm to 6.1cm for the conventional method. However our proposed method succeeded in calculating the position of the transmitter in 95% out of total attempts of localization with sparse receivers (4 receivers in about 5m × 5m area), whereas the success rate was only 31% for the conventional method. From the result we concluded that although the proposed method is less accurate it can cover a wider area with sparse receivers than the conventional method. In addition to the dynamic tracking experiments, we also conducted some localization experiments where the robot stood still. This was because we wanted to investigate the reason why the localization accuracy degraded in the dynamic tracking. According to the result, the degradation of accuracy might be due to the systematic error in localization which is dependent on the geometric relationship between the transmitter and the receiver.
収録刊行物
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- IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
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IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E92-A (6), 1408-1416, 2009
一般社団法人 電子情報通信学会
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詳細情報 詳細情報について
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- CRID
- 1390282681287453184
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- NII論文ID
- 10026857823
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- NII書誌ID
- AA10826239
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- ISSN
- 17451337
- 09168508
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可