Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 2409.01002

Kalman Filtering for Precise Indoor Position and Orientation Estimation Using IMU and Acoustics on Riemannian Manifolds

Mohammed H. AlSharif·Mohanad Ahmed·Mohamed Siala·Tareq Y. Al-Naffouri
View original source ↗Read source document ↗Export metadata ↓

Abstract

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their positioning errors can accumulate rapidly over time. To mitigate this, it is common to integrate INS with complementary systems to correct drift and improve accuracy. This paper presents a novel approach that combines INS with an acoustic Riemannian-based localization system to enhance indoor positioning and orientation tracking. The proposed method employs both the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF) for fusing data from the two systems. The Riemannian-based localization system delivers high-accuracy estimates of the target's position and orientation, which are then used to correct the INS data. A new projection algorithm is introduced to map the EKF or UKF output onto the Riemannian manifold, further improving estimation accuracy. Our results show that the proposed methods significantly outperform benchmark algorithms in both position and orientation estimation. The effectiveness of the proposed methods was evaluated through extensive numerical simulations and testing using our in-house experimental setup. These evaluations confirm the superior performance of our approach in practical scenarios.

Explore related subjects

cs.ROeess.SP

Keep this discovery

BibTeXRIS

Mohammed H. AlSharif, Mohanad Ahmed, Mohamed Siala, Tareq Y. Al-Naffouri. 2024-09-02. Kalman Filtering for Precise Indoor Position and Orientation Estimation Using IMU and Acoustics on Riemannian Manifolds. https://arxiv.org/abs/2409.01002

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies

Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task generalization. A leading design couples this backbone with a dedicated continuous action head trained via diffusion or flow matching. However, such heads rely on iterative multi-step sampling, for example 10 Euler steps in $\pi_{0.5}$. This creates an inference bottleneck that produces stop-and-go movement in the robot and slower task completion. We introduce IMLE-VLA, which replaces the iterative action head with a single-step conditional generator trained via conditional Implicit Maximum Likelihood Estimation (cIMLE). The cIMLE objective promotes multimodal action coverage, avoiding the mode collapse of naive regression heads while eliminating multi-step sampling entirely. When IMLE-VLA is applied to $\pi_{0.5}$, it increases inference frequency 3.67x (55 Hz vs. 15 Hz), enabling up to 11x higher action throughput. On the 40-task LIBERO benchmark, IMLE-VLA achieves the highest average success rate (98.0%) among all baselines while leading in inference frequency. Under the test-time perturbations of LIBERO-plus, IMLE-VLA retains $\pi_{0.5}$'s robustness while other baselines degrade sharply, confirming that the cIMLE head preserves generalization. Real-world experiments on a Franka Emika Panda across four tasks demonstrate smoother motion (2.2x to 3.0x lower jerk) and faster task completion, with IMLE-VLA outperforming $\pi_{0.5}$ on every task and reducing average VLA inference time per episode by 3.9x to 6.6x. Videos and code are available at https://kianhk6.github.io/IMLE-VLA/

cs.RO↗
arXiv2026

ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume clean backgrounds and lack explicit mechanisms for obstacle-aware motion generation. Extending such policies to cluttered, real-world scenes with unstructured obstacles remains a key generalization challenge. We present ObstaDiff, a decomposed diffusion-policy framework with a lightweight obstacle-aware visual encoder. ObstaDiff extracts a structured target-obstacle-background representation, enabling the downstream alignment policy to generate end-effector trajectories toward a target-centered bottleneck pose while reasoning about surrounding obstacles. We evaluate ObstaDiff on 61 real-robot greenhouse trials per method (366 executions in total). ObstaDiff achieves 75.41% average task success and 8.20% average obstacle collision rate, outperforming representative imitation-learning baselines and improving generalization in cluttered agricultural scenes.

cs.RO↗
arXiv2026

Testing Between the Test Cases: Proving End-to-End Steering in Conditions You Never Drove

AI-based automated vehicle testing is challenging because a model that passes every test condition can still fail in the real world. Formal verification offers a way to directly address this gap. On a simulated highway and an arterial road we trained two small end-to-end steering networks each in CARLA, one on clear conditions alone and one on clear, fog, night and low sun. All four models were driven against a 2.19 ft lane-departure budget. Without driving again, we used bound propagation, a formal method that reads the trained weights, to compute how far steering can drift at every disturbance strength between two captured images. One calculation covers more than a campaign could drive: on the arterial it spans 133 poses, where ten intensities each would be 10^133 combinations, in minutes on one GPU. Not only did formal verification find conditions that broke the clear-trained policy without simulation testing, it provided some preliminary evidence for potential failures between the test cases. Our overall conclusion is that formal verification is a viable complement to simulation, and could be adopted as a part of verification and validation for automated driving.

cs.RO↗