Multimodal localisation : analysis, algorithms and experimental evaluation

摘要

The term localisation is derived from the word locale, which traditionally means a small area or vicinity. In ancient days, localisation meant navigation -an art of finding the way from one place to another. Tremendous advancement in the science of navigation dates back to the sixteenth century, when instruments like compasses, sextants and the first ever clock to keep the time exactly were devised. Advancement in navigation brought ways and means to explore the world, be it for expansion of the territories or for promoting trade and business. Since then localisation has been explored for several decades as a classical problem in many disciplines -including robotics, virtual reality, navigation. Now we are in the era of ubiquitous computing -a term coined by the visionary Mark Weiser in the early 1990s. Weiser sees technology only as a means to an end, which should take a back seat in order to allow user to fully concentrate on the task at hand. Looking from a technological standpoint, today we are surrounded by a wealth of devices enriched with sensing, computing and communication capabilities which are seamlessly integrated in our daily lives. Knowing the location of an object is an important cornerstone and fertile research area in ubiquitous computing.