Publications

Journal articles

Amsters, R., Ruberto, S., Demeester, E., Stevens, N. and Slaets, P. “Automating the calibration of visible light positioning systems.” Sensors 2022, 3, 998. doi:10.3390/s22030998

Amsters, R., Demeester, E., Stevens, N. and Slaets, P. “Calibration of Visible Light Positioning Systems with a Mobile Robot.” Sensors 2021, 21, 2394. doi:10.3390/s21072394

Amsters, R., Holm, D., Joly, J., Demeester, E., Stevens, N., Slaets, P. (2020). “Visible Light Positioning using Bayesian Filters” Journal Of Lightwave Technology, 38 (21), 5925-5936. doi: 10.1109/JLT.2020.3006618

Amsters, R., Demeester, E., Stevens, N., Slaets, P. (2019). “In-Depth Analysis of Unmodulated Visible Light Positioning Using the Iterated Extended Kalman Filter” Sensors. doi: 10.3390/s19235198

Conference proceedings

Amsters, R., Holm, D., Joly, J., Demeester, E., Stevens, N., Slaets, P. (2019). “Towards Automated Calibration of Visible Light Positioning Systems” In: 2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN). Presented at the International conference on Indoor Positioning and Indoor Navigation (IPIN), Pisa, Italy, 30 Sep 2019-03 Oct 2019. ISBN: 978-1-7281-1788-1. doi: 10.1109/IPIN.2019.8911756
 

Amsters, R., Slaets, P. (2019). “Turtlebot 3 as a Robotics Education Platform” In: SpringerLink digital library, (170-181). Presented at the Robotics in Education, Vienna, Austria, 10 Apr 2019-12 Apr 2019. doi: 10.1007/978-3-030-26945-6

Filtjens, B., Amsters, R., Bin Junaid, A., Damen, N., Van de Laer, J., Vanwanseele, B., Vanrumste, B., Slaets, P. (2019). “Vision-Based Marker-Less Spatiotemporal Gait Analysis by Using a Mobile Platform: Preliminary Validation” In: Information and Communication Technologies for Ageing Well and e-Health: vol. 982, (126-141). Presented at the International Conference on Communication Technologies for Ageing Well and e-Health, Madeira, Portugal. ISBN: 978-3-030-15735-7.

Amsters, R., Demeester, E., Stevens, N., Lauwers, Q., Slaets, P. (2019). “Evaluation of low-cost/high-accuracy indoor positioning systems”. In: ALLSENSORS 2019, (15-20). Presented at the The Fourth International Conference on Advances in Sensors, Actuators, Metering and Sensing, Athene. ISBN: 978-1-61208-691-0.

Amsters, R., Bin Junaid, A., Damen, N., Van de Laer, J., Filtjens, B., Vanrumste, B., Slaets, P. (2018). “Dynamic Gait Monitoring Mobile Platform” In: International Conference on Information and Communication Technologies for Ageing Well and e-Health, (49-61). Presented at the International Conference on Information and Communication Technologies for Ageing Well and e-Health, Funchal,Madeira, 22 Mar 2018-23 Mar 2018.

Amsters, R., Demeester, E., Slaets, P., Stevens, N. (2018). “Unmodulated Visible Light Positioning using the Iterated Extended Kalman Filter” In: 2018 Ninth International Conference on Indoor Positioning and Indoor Navigation (IPIN 2018). Presented at the 9th International Conference on Indoor Positioning and Indoor Navigation (IPIN), Nantes, France, 24 Sep 2018-27 Sep 2018.

Theses

Doctoral Thesis: Amsters, R., Slaets, P. (sup.), Demeester, E. (cosup.) and Stevens, N. (cosup.) (2021). “Applied Visible Light Positioning”

Master Thesis: Amsters, R., Ketelbuters, C., Slaets, P. (sup.) and Vandeurzen, L (cosup) (2016). Kalman-filter based localization using an iRobot Roomba platform

Abstracts/Presentations/Posters

Videos for some of these presentations are available on the outreach page.
 
Lighting the way for lost robots

Coimbra Group 3 Minute thesis competition finals (Third place)
29/06/2021 (Online)

Abstract: The core challenge of my thesis is to help indoor robots localize themselves. Applications such as automated transportation of goods and
equipment in factories, hospitals, etc. require accurate location data. Outdoors, robots can rely on GPS. Unfortunately, this system does not work indoors.
What we do have inside buildings, are lights. Light was already used long ago to show ships the way. Today, robots can use the same principle. By turning
the lamps on and off very quickly, each lamp can be uniquely identified, and linked to a location. This idea has existed for several years, but is still difficult
to apply outside the lab. During my research, I am trying to remove some of the limiting factors, in order to make light localization possible on a large
scale. More specifically, I try take make the installation of new systems easier. Additionally, I improve the robustness by combining light with other sensors, in
order to make light positioning possible in different kinds of environments.

Lokalisatie met zichtbaar licht

Capitalizing on Innovation (Leuven Mindgate event)
Online
17/12/2020

https://mailchi.mp/d9ef5c8216b9/40ledenmetinnovaties
https://www.leuvenmindgate.be/activities/ledenevent-capitalizing-on-innovation

Abstract: Mobiele robots moeten hun locatie kennen om bepaalde taken uit te kunnen voeren. Buitenshuis, kunnen robots GPS gebruiken, maar dat
kan niet binnenshuis. Wat we binnen wel hebben, zijn lampen. Licht werd lang geleden al gebruikt om schepen de weg te wijzen. Vandaag kunnen
robots hetzelfde principe gebruiken. Door lampen zeer snel te laten flikkeren kan elke lamp uniek geïdentificeerd worden, en gekoppeld aan
een locatie. Groep T (KU Leuven) legt uit.

Breaking the wall of lost robots

Falling Walls Lab Leuven
Leuven, Belgium
28/09/2020

https://www.youtube.com/watch?v=tSjghsz45eA
https://www.youtube.com/watch?v=8dYJIF9PBIE&feature=emb_err_woyt

Abstract: In order for a robot to get from point A to point B, it first needs to know where it is. Outdoors, solutions are available, but indoor positioning is still a challenge. There is no “indoor GPS”, but maybe robots can use something we already have: lights.

And then there was light!

Intelligent Mobile Platforms Seminar
Online (COVID-19 restrictions)
28/04/2020
https://agenda.kuleuven.be/nl/node/72535

Abstract: Indoor lighting has been around for quite some time. For a long time, little innovation was made. The introduction of LEDs has brought with it a seemingly endless range of advantages, such as a lower energy use and longer life-time. Additionally, LED lighting can be used as a wireless transmission channel. In these ‘LiFi’ systems, the lights illuminate the space as usual, and have the added function of communication, comparable to today’s Wi-Fi. Lighting can also be used to estimate the location of objects or vehicles.

This presentation will discuss the basic principles of light based communication and positioning, and will highlight some of the current trends and challenges.

Indoor localization for mobile platforms

IMP research seminar
Leuven, Belgium
24/05/2019
https://agenda.kuleuven.be/en/content/imp-research-seminar

Abstract: Localization is a requirement for autonomous operation of mobile platforms. Various techniques and technologies are currently available, each with their own advantages and drawbacks. This presentation will elaborate on the most common approaches. Additionally, more recent trends and technologies are discussed.

Unmodulated Visible Light Positioning

GeoIOT World
Brussels, Belgium
12/06/2018
https://www.geoiotworld.com/emea/session/unmodulated-visible-light-positioning

Abstract: Localization based on visible light communication is rapidly attracting more attention as the adoption rate of LED lights increases. The cost of these systems is relatively low due to the integration with existing lighting systems, yet accuracy can be sufficient (%%EDITORCONTENT%%lt;$ 10cm RMS) by taking advantage of the well-known characteristics of LED lights. However, all current systems rely on modulated light sources. Through this modulation, the fixtures can for example transmit unique codes. A photodiode receives the superposition of the signals from all light sources. Through cross-correlation, the signal can be separated into the components originating from the individual light sources. These components are then converted to distances through a signal strength model. Finally, triangulation is used to determine the position of the receiver. In our work, continuous light sources are used for localization. A receiver mounted on a mobile
robot collects light intensity measurements. These measurements are compared to a signal strength model within an Iterated Extended Kalman Filter algorithm. Through data fusion with encoder measurements, a location at every timestep is estimated. This approach, while currently experimental, could enable extremely low cost indoor localization.

Sensorfusie voor nauwkeurigere en robuustere plaatsbepaling

Studienamiddag over lokalisatiesystemen,
Leuven, Belgium
30/05/2018
https://set.kuleuven.be/LICT/map-events-workshops2/studienamiddag-over-lokalisatiesystemen

Abstract: Elke technologie voor plaatsbepaling heeft zijn eigen sterktes en zwaktes. Door gebruik te maken van meerdere bronnen van informatie kan
men positioneringssystemen bekomen die zowel nauwkeuriger als robuuster zijn. Deze presentatie geeft een overzicht van de meeste gebruikte sensorfusietechnieken en hun toepassingen in de praktijk.