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Title
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Improving the accuracy and robustness of ultra-wideband localization through sensor fusion and outlier detection
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Author
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Abstract
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| This article presents sensor fusion techniques for ultra-wideband-based localization to achieve sufficient accuracy and robustness for the control of AGVs in an industrial environment. We propose two outlier detection methods in combination with an EKF, and present experimental validation where 10 cm accuracy is achieved even in difficult NLOS conditions. |
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Language
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English
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Source (journal)
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IEEE robotics and automation letters. - Piscataway, NJ
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Publication
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Piscataway, NJ
:
Institute of Electrical and Electronics Engineers
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2020
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ISSN
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2377-3766
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DOI
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10.1109/LRA.2019.2943821
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Volume/pages
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5
:1
(2020)
, p. 32-39
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ISI
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000497502400005
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Full text (Publisher's DOI)
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Full text (open access)
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