A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Indoor location tracking in non-line-of-sight environments using a IEEE 802.15.4a wireless network
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A Modular Framework for Fast Prototyping of Cooperative Unmanned Aerial Vehicle
Journal of Intelligent and Robotic Systems
Ubiquitous positioning: integrated GPS/Wireless LAN positioning for wheelchair navigation system
ACIIDS'13 Proceedings of the 5th Asian conference on Intelligent Information and Database Systems - Volume Part I
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Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mini UAV based on Ultra-WideBand technology, low cost IMU and vision based sensors. In this work an Extended Kalman Filter (EKF) is introduced as a possible technique to improve the localization. The proposed approach allows to use a low-cost Inertial Measurement Unit (IMU) in the prediction step and the integration of vision-odometry for the detection of markers nearness the touchdown area. The ranging measurements allow to reduce the errors of inertial sensors due to the limited performance of accelerometers and gyros. The obtained results show that an accuracy of 10 cm can be achieved.