3D Backscatter Localization for Fine-Grained Robotics
3D Backscatter Localization for Fine-Grained Robotics
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发表时间：
2019
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通讯作者：
Zhihong Luo;Qiping Zhang;Yunfei Ma;Manish Singh;Fadel M. Adib
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作者：
Zhihong Luo;Qiping Zhang;Yunfei Ma;Manish Singh;Fadel M. Adib
本文介绍了TurboTrack的设计，实现和评估，一个3D定位系统的细粒度的机器人任务。TurboTrack的独特功能是，它可以定位反向散射节点，精度达到亚厘米级，而不受其位置或移动性的任何限制。TurboTrack做出了两项关键的技术贡献。首先，它提出了一种流水线架构，可以从每个单个反向散射数据包中提取比反向散射通信带宽大三个数量级的感测带宽。其次，它介绍了一种贝叶斯时空超分辨率算法，该算法结合了多个天线的感知带宽的时间序列，以实现准确的定位。我们的实验表明，TurboTrack同时实现了在每个x/y/z维度上的亚厘米的中值精度和在3D定位中小于7.5毫秒的99百分位延迟。这使得TurboTrack的实时原型能够为敏捷的机器人任务实现细粒度定位，正如我们在多个协作应用中所展示的那样，包括室内跟踪，包装，组装和移交。
This paper presents the design, implementation, and evaluation of TurboTrack, a 3D localization system for fine-grained robotic tasks. TurboTrack’s unique capability is that it can localize backscatter nodes with sub-centimeter accuracy without any constraints on their locations or mobility. TurboTrack makes two key technical contributions. First, it presents a pipelined architecture that can extract a sensing bandwidth from every single backscatter packet that is three orders of magnitude larger than the backscatter communication bandwidth. Second, it introduces a Bayesian space-time super-resolution algorithm that combines time series of the sensed bandwidth across multiple antennas to enable accurate positioning. Our experiments show that TurboTrack simultaneously achieves a median accuracy of sub-centimeter in each of the x/y/z dimensions and a 99 percentile latency less than 7.5 milliseconds in 3D localization. This enables TurboTrack’s real-time prototype to achieve fine-grained positioning for agile robotic tasks, as we demonstrate in multiple collaborative applications with robotic arms and nanodrones including indoor tracking, packaging, assembly, and handover.