The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Node Localization Using Mobile Robots in Delay-Tolerant Sensor Networks
IEEE Transactions on Mobile Computing
Simultaneous localization, calibration, and tracking in an ad hoc sensor network
Proceedings of the 5th international conference on Information processing in sensor networks
Robust distributed node localization with error management
Proceedings of the 7th ACM international symposium on Mobile ad hoc networking and computing
FastSLAM: A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics (Springer Tracts in Advanced Robotics)
Large-scale localization from wireless signal strength
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Particle filters for position sensing with asynchronous ultrasonic beacons
LoCA'06 Proceedings of the Second international conference on Location- and Context-Awareness
Place lab: device positioning using radio beacons in the wild
PERVASIVE'05 Proceedings of the Third international conference on Pervasive Computing
Three step bluetooth positioning
LoCA'05 Proceedings of the First international conference on Location- and Context-Awareness
Accurate GSM indoor localization
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
PowerLine positioning: a practical sub-room-level indoor location system for domestic use
UbiComp'06 Proceedings of the 8th international conference on Ubiquitous Computing
STAM: a system of tracking and mapping in real environments
IEEE Wireless Communications
Error control in distributed node self-localization
EURASIP Journal on Advances in Signal Processing
Controlling error propagation in mobile-infrastructure based localization
MELT'09 Proceedings of the 2nd international conference on Mobile entity localization and tracking in GPS-less environments
UCAmI'12 Proceedings of the 6th international conference on Ubiquitous Computing and Ambient Intelligence
I see you there!: developing identity-preserving embodied interaction for museum exhibits
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
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This paper presents algorithms, simulations, and empirical results of a system that finds relative tag positions in 3D space using a new approach called "mobile infrastructure." Mobile infrastructure consists of one or more sensors in a fixed configuration on a mobile platform, and a set of tags affixed to objects or locations in the environment which the users want to localize. It is especially useful in cases where infrastructure is needed only temporarily, such as during installation, calibration, or maintenance. Mobile infrastructure can cover a much larger area than installed infrastructure with the same number of sensors, and is especially useful in cases where localization hardware costs are asymmetric, with expensive sensors and inexpensive tags. The data collected at various positions are combined by a simple "leapfrog" procedure, with constrained optimization to obtain better accuracy. Our system achieves about one foot (0.3 meter) accuracy with 90% confidence in indoor environments.