A high precision visual localization sensor and its working methodology for an indoor mobile robot

To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed and illustrated in detail in this paper. First, the hardware system of the localization sensor is developed. Secondly, we design a novel kind of infrared-reflective artificial marker whose characteristics can be extracted by the acquisition and processing of the infrared image. In addition, a confidence calculation method for marker identification is proposed to obtain the probabilistic localization results. Finally, the autonomous localization of the robot is achieved by calculating the relative pose relation between the robot and the artificial marker based on the perspective-3-point(P3P) visual localization algorithm. Numerous experiments and practical applications show that the designed localization sensor system is immune to the interferences of the illumination and observation angle changes. The precision of the sensor is ±1.94 cm for position localization and ±1.64° for angle localization. Therefore, it satisfies perfectly the requirements of localization precision for an indoor mobile robot.

A survey on sensor localization

Localization is one of the fundamental problems in wireless sensor networks （WSNs）, since locations of the sensor nodes are critical to both network operations and most application level tasks. Although the GPS based localization schemes can be used to determine node locations within a few meters, the cost of GPS devices and non-availability of GPS signals in confined environments prevent their use in large scale sensor networks. There exists an extensive body of research that aims at obtaining locations as well as spatial relations of nodes in WSNs without requiring specialized hardware and/or employing only a limited number of anchors that are aware of their own locations. In this paper, we present a comprehensive survey on sensor localization in WSNs covering motivations, problem formulations, solution approaches and performance summary. Future research issues will also be discussed.

A Survey of Ranging Algorithms and Localization Schemes in Underwater Acoustic Sensor Network

Underwater Acoustic Sensor Network(UASN) has attracted significant attention because of its great influence on ocean exploration and monitoring. On account of the unique characteristics of underwater environment, localization, as one of the fundamental tasks in UASNs, is a more challenging work than in terrestrial sensor networks. A survey of the ranging algorithms and the network architectures varied with different applications in UASNs is provided in this paper. Algorithms used to estimate the coordinates of the UASNs nodes are classified into two categories: rangebased and range-free. In addition, we analyze the architectures of UASNs based on different applications, and compare their performances from the aspects of communication cost, accuracy, coverage and so on. Open research issues which would affect the accuracy of localization are also discussed, including MAC protocols, sound speed and time synchronization.

A WKNN-based approach for NB-IoT sensors localization

With the recent introduction of NarrowBand Internet of Things(NB-IoT)technology in the 4th and 5th generations of mobile radio networks,the mobile communications context opens up significantly to the world of sensors.By means of NB-IoT,the mobile systems within 3GPP standardization introduce the peculiar functions of sensor networks,thus making it possible to satisfy very specific requirements with respect to those which characterize traditional mobile telecommunications.Among the functions of interest for sensor networks,the possibility of locating the positions of the sensors without an increase in costs and energy consumption of the sensor nodes is of utmost interest.The present work describes a procedure for locating the NB-IoT nodes based on the quality of radio signals received by the mobile terminals,which therefore does not require further hardware implementations on board the nodes.This procedure,based on the RF fingerprinting technique and on machine learning processing,has been tested experimentally and has achieved interesting performances.

Designing reduced beacon trajectory for sensor localization

Localization is one of the substantial issues in wireless sensor networks. The key problem for the mobile beacon localization is how to choose the appropriate beacon trajectory. However, little research has been done on it. In this paper, firstly, we deduce the number of positions for a beacon to send a packet according to the acreage of ROI (region of interest); and next we present a novel method based on virtual force to arrange the positions in arbitrary ROI; then we apply TSP (travelling salesman problem) algorithm to the positions sequence to obtain the optimal touring path, i.e. the reduced beacon trajectory. When a mobile beacon moves along the touring path, sending RF signals at every position, the sensors in ROI can work out their position with trilateration. Experimental results demonstrate that the localization method, based on the beacon reduced path, is efficient and has flexible accuracy.

Correlation Composition Awareness Model with Pair Collaborative Localization for IoT Authentication and Localization

Secure authentication and accurate localization among Internet of Things(IoT)sensors are pivotal for the functionality and integrity of IoT networks.IoT authentication and localization are intricate and symbiotic,impacting both the security and operational functionality of IoT systems.Hence,accurate localization and lightweight authentication on resource-constrained IoT devices pose several challenges.To overcome these challenges,recent approaches have used encryption techniques with well-known key infrastructures.However,these methods are inefficient due to the increasing number of data breaches in their localization approaches.This proposed research efficiently integrates authentication and localization processes in such a way that they complement each other without compromising on security or accuracy.The proposed framework aims to detect active attacks within IoT networks,precisely localize malicious IoT devices participating in these attacks,and establish dynamic implicit authentication mechanisms.This integrated framework proposes a Correlation Composition Awareness(CCA)model,which explores innovative approaches to device correlations,enhancing the accuracy of attack detection and localization.Additionally,this framework introduces the Pair Collaborative Localization(PCL)technique,facilitating precise identification of the exact locations of malicious IoT devices.To address device authentication,a Behavior and Performance Measurement(BPM)scheme is developed,ensuring that only trusted devices gain access to the network.This work has been evaluated across various environments and compared against existing models.The results prove that the proposed methodology attains 96%attack detection accuracy,84%localization accuracy,and 98%device authentication accuracy.

An Improved Underwater Acoustic Network Localization Algorithm

Underwater sensor network can achieve the unmanned environmental monitoring and military monitoring missions.Underwater acoustic sensor node cannot rely on the GPS to position itself,and the traditional indirect positioning methods used in Ad Hoc networks are not fully applicable to the localization of underwater acoustic sensor networks.In this paper,we introduce an improved underwater acoustic network localization algorithm.The algorithm processes the raw data before localization calculation to enhance the tolerance of random noise.We reduce the redundancy of the calculation results by using a more accurate basic algorithm and an adjusted calculation strategy.The improved algorithm is more suitable for the underwater acoustic sensor network positioning.

Supervised local and non-local structure preserving projections with application to just-in-time learning for adaptive soft sensor

In soft sensor field, just-in-time learning(JITL) is an effective approach to model nonlinear and time varying processes. However, most similarity criterions in JITL are computed in the input space only while ignoring important output information, which may lead to inaccurate construction of relevant sample set. To solve this problem, we propose a novel supervised feature extraction method suitable for the regression problem called supervised local and non-local structure preserving projections(SLNSPP), in which both input and output information can be easily and effectively incorporated through a newly defined similarity index. The SLNSPP can not only retain the virtue of locality preserving projections but also prevent faraway points from nearing after projection,which endues SLNSPP with powerful discriminating ability. Such two good properties of SLNSPP are desirable for JITL as they are expected to enhance the accuracy of similar sample selection. Consequently, we present a SLNSPP-JITL framework for developing adaptive soft sensor, including a sparse learning strategy to limit the scale and update the frequency of database. Finally, two case studies are conducted with benchmark datasets to evaluate the performance of the proposed schemes. The results demonstrate the effectiveness of LNSPP and SLNSPP.

RSSI-Based 3D Wireless Sensor Node Localization Using Hybrid T Cell Immune and Lotus Optimization

Wireless Sensor Network(WSNs)consists of a group of nodes that analyze the information from surrounding regions.The sensor nodes are responsible for accumulating and exchanging information.Generally,node local-ization is the process of identifying the target node’s location.In this research work,a Received Signal Strength Indicator(RSSI)-based optimal node localization approach is proposed to solve the complexities in the conventional node localization models.Initially,the RSSI value is identified using the Deep Neural Network(DNN).The RSSI is conceded as the range-based method and it does not require special hardware for the node localization process,also it consumes a very minimal amount of cost for localizing the nodes in 3D WSN.The position of the anchor nodes is fixed for detecting the location of the target.Further,the optimal position of the target node is identified using Hybrid T cell Immune with Lotus Effect Optimization algorithm(HTCI-LEO).During the node localization process,the average localization error is minimized,which is the objective of the optimal node localization.In the regular and irregular surfaces,this hybrid algorithm effectively performs the localization process.The suggested hybrid algorithm converges very fast in the three-dimensional(3D)environment.The accuracy of the proposed node localization process is 94.25%.

Energy-efficient localization and target tracking via underwater mobile sensor networks

Underwater mobile sensor networks(UMSNs) with free-floating sensors are more suitable for understanding the immense underwater environment. Target tracking, whose performance depends on sensor localization accuracy, is one of the broad applications of UMSNs. However, in UMSNs, sensors move with environmental forces,so their positions change continuously, which poses a challenge on the accuracy of sensor localization and target tracking. We propose a high-accuracy localization with mobility prediction(HLMP) algorithm to acquire relatively accurate sensor location estimates. The HLMP algorithm exploits sensor mobility characteristics and the multistep Levinson-Durbin algorithm to predict future positions. Furthermore, we present a simultaneous localization and target tracking(SLAT) algorithm to update sensor locations based on measurements during the process of target tracking. Simulation results demonstrate that the HLMP algorithm can improve localization accuracy significantly with low energy consumption and that the SLAT algorithm can further decrease the sensor localization error. In addition, results prove that a better localization accuracy will synchronously improve the target tracking performance.

Accurate Location Estimation of Smart Dusts Using Machine Learning

Traditional wireless sensor networks(WSNs)are not suitable for rough terrains that are difficult or impossible to access by humans.Smart dust is a technology that works with the combination of many tiny sensors which is highly useful for obtaining remote sensing information from rough terrains.The tiny sensors are sprinkled in large numbers on rough terrains using airborne distribution through drones or aircraftwithout manually setting their locations.Although it is clear that a number of remote sensing applications can benefit from this technology,but the small size of smart dust fundamentally restricts the integration of advanced hardware on tiny sensors.This raises many challenges including how to estimate the location of events sensed by the smart dusts.Existing solutions on estimating the location of events sensed by the smart dusts are not suitable for monitoring rough terrains as these solutions depend on relay sensors and laser patterns which have their own limitations in terms of power constraint and uneven surfaces.The study proposes a novel machine learning based localization algorithm for estimating the location of events.The approach utilizes timestamps(time of arrival)of sensed events received at base stations by assembling them into a multidimensional vector and input to a machine learning classifier for estimating the location.Due to the unavailability of real smart dusts,we built a simulator for analysing the accuracy of the proposed approach formonitoring forest fire.The experiments on the simulator show reasonable accuracy of the approach.

Phase Retrieval via Sensor Network Localization

The problem of phase retrieval is revisited and studied from a fresh perspective.In particular,we establish a connection between the phase retrieval problem and the sensor network localization problem,which allows us to utilize the vast theoretical and algorithmic literature on the latter to tackle the former.Leveraging this connection,we develop a two-stage algorithm for phase retrieval that can provably recover the desired signal.In both sparse and dense settings,our proposed algorithm improves upon prior approaches simultaneously in the number of required measurements for recovery and the reconstruction time.We present numerical results to corroborate our theory and to demonstrate the efficiency of the proposed algorithm.As a side result,we propose a new form of phase retrieval problem and connect it to the complex rigidity theory proposed by Gortler and Thurston(in:Connelly R,Ivic Weiss A,Whiteley W(eds)Rigidity and symmetry,Springer,New York,pp 131–154,2014).