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 6.2 cm to 14.6 cm for the proposed method, from 4.0 cm to 6.1 cm 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 5 m
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Copy
Toshio ITO, Tetsuya SATO, Kan TULATHIMUTTE, Masanori SUGIMOTO, Hiromichi HASHIZUME, "A Scalable Tracking System Using Ultrasonic Communication" in IEICE TRANSACTIONS on Fundamentals,
vol. E92-A, no. 6, pp. 1408-1416, June 2009, doi: 10.1587/transfun.E92.A.1408.
Abstract: 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 6.2 cm to 14.6 cm for the proposed method, from 4.0 cm to 6.1 cm 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 5 m
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E92.A.1408/_p
Copy
@ARTICLE{e92-a_6_1408,
author={Toshio ITO, Tetsuya SATO, Kan TULATHIMUTTE, Masanori SUGIMOTO, Hiromichi HASHIZUME, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={A Scalable Tracking System Using Ultrasonic Communication},
year={2009},
volume={E92-A},
number={6},
pages={1408-1416},
abstract={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 6.2 cm to 14.6 cm for the proposed method, from 4.0 cm to 6.1 cm 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 5 m
keywords={},
doi={10.1587/transfun.E92.A.1408},
ISSN={1745-1337},
month={June},}
Copy
TY - JOUR
TI - A Scalable Tracking System Using Ultrasonic Communication
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 1408
EP - 1416
AU - Toshio ITO
AU - Tetsuya SATO
AU - Kan TULATHIMUTTE
AU - Masanori SUGIMOTO
AU - Hiromichi HASHIZUME
PY - 2009
DO - 10.1587/transfun.E92.A.1408
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E92-A
IS - 6
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - June 2009
AB - 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 6.2 cm to 14.6 cm for the proposed method, from 4.0 cm to 6.1 cm 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 5 m
ER -