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DeepCIR: insights into CIR-based data-driven UWB error mitigation

Abstract:

Ultra-Wide-Band (UWB) ranging sensors have been widely adopted for robotic navigation thanks to their extremely high bandwidth and hence high resolution. However, off-the-shelf devices may output ranges with significant errors in cluttered, severe non-line-of-sight (NLOS) environments. Recently, neural networks have been actively studied to improve the ranging accuracy of UWB sensors using the channel-impulse-response (CIR) as input. However, previous works have not systematically evaluated t...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/IROS47612.2022.9981931

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Institution:
University of Oxford
Division:
MPLS
Department:
Computer Science
Role:
Author
Publisher:
IEEE
Host title:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages:
13300-13307
Publication date:
2022-12-22
Acceptance date:
2022-07-01
Event title:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
Event location:
Kyoto, Japan
Event website:
https://iros2022.org/
Event start date:
2022-10-23
Event end date:
2022-10-27
DOI:
EISSN:
2153-0866
ISSN:
2153-0858
EISBN:
9781665479271
ISBN:
9781665479288
Language:
English
Keywords:
Pubs id:
1272387
Local pid:
pubs:1272387
Deposit date:
2022-08-03

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