Bridging the Indoor-Outdoor Gap: Cross-Technology Ranging for Seamless Robot Navigation
Research output: Preprint/Documentation/Report › Preprint
Contributors
Abstract
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has received little attention, and the building boundary is precisely where both classes degrade. This paper reports preliminary observations from the HYMN dataset, which time-synchronizes raw measurements from GNSS, Ultra-Wideband (UWB), WiFi Fine Time Measurement (FTM), and Bluetooth Low Energy (BLE) against millimeter-level ground truth in an industrial setting. Per-zone measurement availability and ranging-residual behavior are characterised. The two technology classes turn out to be complementary, and the indoor-outdoor transition is where their weaknesses overlap. The dataset is publicly available.
Details
| Original language | English |
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| Publication status | Published - 28 Apr 2026 |
No renderer: customAssociatesEventsRenderPortal,dk.atira.pure.api.shared.model.researchoutput.WorkingPaper
External IDs
| ORCID | /0000-0002-1091-782X/work/214455788 |
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Keywords
Keywords
- eess.SP, cs.RO