Bridging the Indoor-Outdoor Gap: Cross-Technology Ranging for Seamless Robot Navigation
TLDR
This paper introduces the HYMN dataset for cross-technology ranging to improve seamless robot navigation between indoor and outdoor environments.
Key contributions
- Addresses consistent positioning for robots navigating indoor-outdoor transitions.
- Introduces HYMN dataset: synchronized GNSS, UWB, WiFi FTM, BLE raw measurements.
- Features millimeter-level ground truth in an industrial setting for robust evaluation.
- Characterizes per-zone measurement availability and ranging-residual behavior.
Why it matters
Mobile robots struggle with consistent positioning at indoor-outdoor transitions. This paper introduces the HYMN dataset, synchronizing multiple ranging technologies with ground truth. It offers critical insights into their complementary nature, and the public dataset will foster research into seamless navigation.
Original 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.
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