ViPER+: Vehicle Pose Estimation Using Ultra-Wideband Radios for Automated Construction Safety Monitoring
Source abstract
Abstract
Pose estimation of heavy construction equipment is the key technology for real-time safety monitoring in road construction sites where heavy equipment and workers on foot collaborate in proximity. Ultra-wideband (UWB) radios hold great promise among various sensing technologies for providing accurate object localization in indoor and outdoor environments. However, in a road construction environment with heavy vehicles and equipment, the performance of UWB radios drastically declines because of blockages in the transmission signal between the transmitter and receiver causing Non-Line of Sight (NLOS) situations. To address this deficiency, our study presents a real-time pose estimating system called ViPER+ that can overcome NLOS situations and accurately determine the boundary of heavy construction equipment with multiple UWB tags attached to the surface of the equipment. To remove the impact of NLOS signals, we introduced an input correction method prior to localization to correct the input of the localization algorithm. Evaluation of ViPER+ in a real construction environment indicates that embedding NLOS detection technique in UWB-based pose estimation resulted in 40% improvements in location accuracy and 25% improvement in update rate compared to its previous implementation (ViPER).
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Indoor and Outdoor Localization Technologies · Geophysical Methods and Applications · Infrastructure Maintenance and Monitoring
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Computer Science, University of Houston, Houston, TX 77004, USA
Durham School of Architectural Engineering and Construction, University of Nebraska-Lincoln, Lincoln, NE 68588, USA
Funding
Transportation Research Board
References (54)
Show source-provided references
1. (2022, November 27). Commonly Used Statistics | Occupational Safety and Health Administration, Available online: https://www.osha.gov/data/commonstats.
2. (2022, November 27). Highway Work Zone Safety | NIOSH | CDC, Available online: https://www.cdc.gov/niosh/topics/highwayworkzones/default.html.
3. Pegula, S. (2022, November 27). Workplace Safety and Health Fatal Occupational Injuries at Road Construction Sites, 2003-07. Available online: https://www.jstor.org/stable/monthlylaborrev.2010.11.037.
4. (2022, November 27). Regulations (Standards - 29 CFR) | Occupational Safety and Health Administration, Available online: https://www.osha.gov/laws-regs/regulations/standardnumber.
5. (2022, November 27). Work Zone Safety Consortium Developing Internal Traffic Control Plans (ITCPs) for Work Zones. Available online: https://workzonesafety-media.s3.amazonaws.com/workzonesafety/files/documents/training/courses_programs/rsa_program/RSP_Guidance_Documents_Download/RSP_ITCP_Guidance_Download.pdf.
6. Graham, J.L., and Burch, R. (2006). Internal Traffic Control Plans and Worker Safety Planning Tool. Transp. Res. Rec., 1948.10.1177/0361198106194800107 ↗
7. Albert, A., Hallowell, M.R., and Kleiner, B.M. (2013). Enhancing Construction Hazard Recognition and Communication with Energy-Based Cognitive Mnemonics and Safety Meeting Maturity Model: Multiple Baseline Study. J. Constr. Eng. Manag.10.1061/(ASCE)CO.1943-7862.0000790 ↗
8. Workplace Hazard Identification and Management: The Case of an Underground Mining Operation10.1016/j.ssci.2013.01.010 ↗
9. Safety Hazard Identification on Construction Projects10.1061/(ASCE)0733-9364(2006)132:2(197) ↗
10. Framework of Automated Construction-Safety Monitoring Using Cloud-Enabled BIM and BLE Mobile Tracking Sensors10.1061/(ASCE)CO.1943-7862.0001223 ↗
11. Self-Corrective Knowledge-Based Hybrid Tracking System Using BIM and Multimodal Sensors10.1016/j.aei.2017.02.001 ↗
12. A Proactive System for Real-Time Safety Management in Construction Sites10.1016/j.autcon.2011.04.019 ↗
13. Teizer, J., Venugopal, M., and Walia, A. (2008). Ultrawideband for Automated Real-Time Three-Dimensional Location Sensing for Workforce, Equipment, and Material Positioning and Tracking. Transp. Res. Rec. J. Transp. Res. Board, 56–64.10.3141/2081-06 ↗
14. Fang, Y., Cho, Y.K., Zhang, S., and Perez, E. (2016). Case Study of BIM and Cloud–Enabled Real-Time RFID Indoor Localization for Construction Management Applications. J. Constr. Eng. Manag.10.1061/(ASCE)CO.1943-7862.0001125 ↗
15. Performance Test of Wireless Technologies for Personnel and Equipment Proximity Sensing in Work Zones10.1061/(ASCE)CO.1943-7862.0001031 ↗
16. Positioning and Tracking Construction Vehicles in Highly Dense Urban Areas and Building Construction Sites10.1016/j.autcon.2006.11.001 ↗
17. Vahdatikhaki, F., Hammad, A., and Siddiqui, H. (2015). Optimization-Based Excavator Pose Estimation Using Real-Time Location Systems. Autom. Constr.10.1016/j.autcon.2015.03.006 ↗
18. Silva, B., Pang, Z., Åkerberg, J., Neander, J., and Hancke, G. (2014, January 1–3). Experimental Study of UWB-Based High Precision Localization for Industrial Applications. Proceedings of the Ultra-WideBand (ICUWB), Paris, France.10.1109/ICUWB.2014.6958993 ↗
19. (2022, November 27). Decawave None Line of Sight Operations and Optimizations to Improve Performance in DW1000 Based Systems. Available online: https://www.qorvo.com/products/d/da008450.
20. Heydariaan, M., Mohammadmoradi, H., and Gnawali, O. (2018, January 10–13). Toward Standard Non-Line-of-Sight Benchmarking of Ultra-Wideband Radio-Based Localization. Proceedings of the Proceedings-2018 1st Workshop on Benchmarking Cyber-Physical Networks and Systems, Porto, Portugal. CPSBench 2018.10.1109/CPSBench.2018.00010 ↗
21. Gururaj, K., Rajendra, A.K., Song, Y., Law, C.L., and Cai, G. (2017, January 18–21). Real-Time Identification of NLOS Range Measurements for Enhanced UWB Localization. Proceedings of the 2017 International Conference on Indoor Positioning and Indoor Navigation, Sapporo, Japan. IPIN 2017.10.1109/IPIN.2017.8115877 ↗
22. Yu, K., Wen, K., Li, Y., Zhang, S., and Zhang, K. (2019). A Novel NLOS Mitigation Algorithm for UWB Localization in Harsh Indoor Environments. IEEE Trans. Veh. Technol.10.1109/TVT.2018.2883810 ↗
23. Li, X., and Wang, Y. (2020). Research on the UWB/IMU Fusion Positioning of Mobile Vehicle Based on Motion Constraints. Acta Geod. Geophys., 1–19.10.1007/s40328-020-00291-8 ↗
24. Ultra-Wideband Based Pose Estimation for Small Unmanned Aerial Vehicles10.1109/ACCESS.2018.2873571 ↗
25. Barral, V., Suárez-Casal, P., Escudero, C.J., and García-Naya, J.A. (2019). Multi-Sensor Accurate Forklift Location and Tracking Simulation in Industrial Indoor Environments. Electronics, 8.10.3390/electronics8101152 ↗
26. Mikov, A., Moschevikin, A., and Voronov, R. (2020, January 25–27). Vehicle Dead-Reckoning Autonomous Algorithm Based on Turn Velocity Updates in Kalman Filter. Proceedings of the 27th Saint Petersburg International Conference on Integrated Navigation Systems, St. Petersburg, Russia. ICINS 2020-Proceedings.10.23919/ICINS43215.2020.9133748 ↗
27. Zhang, R.G., Shen, F., and Li, Q.H. (2020, January 25–27). A Hybrid Indoor/Outdoor Positioning and Orientation Solution Based on INS, UWB and Dual-Antenna RTK-GNSS. Proceedings of the 2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS), St. Petersburg, Russia.10.23919/ICINS43215.2020.9133911 ↗
28. Li, M.G., Zhu, H., You, S.Z., and Tang, C.Q. (2020). UWB-Based Localization System Aided with Inertial Sensor for Underground Coal Mine Applications. IEEE Sens. J.10.1109/JSEN.2020.2976097 ↗
29. Han, Y., Wei, C., Li, R., Wang, J., and Yu, H. (2020). A Novel Cooperative Localization Method Based on IMU and UWB. Sensors, 20.10.3390/s20020467 ↗
30. (2022, November 27). Competent Person - Overview | Occupational Safety and Health Administration, Available online: https://www.osha.gov/competent-person.
31. Sulankivi, K., Kähkönen, K., Mäkelä, T., and Kiviniemi, M. (2010, January 10–13). 4D-BIM for Construction Safety Planning. Proceedings of the W099-Special Track 18th CIB World Building Congress, Manchester, UK.
32. Building Information Modeling (BIM) and Safety: Automatic Safety Checking of Construction Models and Schedules10.1016/j.autcon.2012.05.006 ↗
33. Integrating Work Sequences and Temporary Structures into Safety Planning: Automated Scaffolding-Related Safety Hazard Identification and Prevention in BIM10.1016/j.autcon.2016.06.012 ↗
34. Development of a Mobile Safety Monitoring System for Construction Sites10.1016/j.autcon.2008.08.002 ↗
35. Performance Evaluation of Ultra Wideband Technology for Construction Resource Location Tracking in Harsh Environments10.1016/j.autcon.2011.05.001 ↗
36. Deterioration of UWB Positioning during Construction10.1016/j.autcon.2012.02.009 ↗
37. Esmaeilnejad, S. (2015). Accuracy Assessment of UWB RTLS for Tracking Resources on Construction Sites, University of Calgary.
38. Wang, J., Raja, A.K., and Pang, Z. (2015, January 10–14). Prototyping and Experimental Comparison of IR-UWB Based High Precision Localization Technologies. Proceedings of the Ubiquitous Intelligence and Computing and 2015 IEEE 12th Intl Conf on Autonomic and Trusted Computing and 2015 IEEE 15th Intl Conf on Scalable Computing and Communications and Its Associated Workshops (UIC-ATC-ScalCom), Beijing, China.10.1109/UIC-ATC-ScalCom-CBDCom-IoP.2015.216 ↗
39. Ultra-Wide Band Technology Experiments for Real-Time Prevention of Tower Crane Collisions10.1016/j.autcon.2011.11.015 ↗
40. Pittokopiti, M., and Grammenos, R. (2019, January 8–10). Infrastructureless UWB Based Collision Avoidance System for the Safety of Construction Workers. Proceedings of the 2019 26th International Conference on Telecommunications, Hanoi, Vietnam. ICT 2019.10.1109/ICT.2019.8798845 ↗
41. Ghanem, E., O’Keefe, K., and Klukas, R. (2020–16, January 18). Estimating Vehicle-to-Vehicle Relative Position and Attitude Using Multiple UWB Ranges. Proceedings of the CEUR Workshop Proceedings, Victoria, BC, Canada.10.1109/VTC2020-Fall49728.2020.9348731 ↗
42. A Novel Asynchronous UWB Positioning System for Autonomous Trucks in an Automated Container Terminal
43. Crane Pose Estimation Using UWB Real-Time Location System10.1061/(ASCE)CP.1943-5487.0000172 ↗
44. Ansaripour, A., Heydariaan, M., Gnawali, O., and Kim, K. (2020, January 25–27). ViPER: Vehicle Pose Estimation Using Ultra-Wideband Radios. Proceedings of the 2020 16th International Conference on Distributed Computing in Sensor Systems (DCOSS), Marina del Rey, CA, USA.10.1109/DCOSS49796.2020.00029 ↗
45. A Perturbation Analysis on the Performance of TOA and TDOA Localization in Mixed LOS/NLOS Environments10.1109/TCOMM.2013.012313.110509 ↗
46. Xu, Q., Lei, Y., Cao, J., and Wei, H. (2014, January 14–16). An Improved Algorithm Based on Reference Selection for Time Difference of Arrival Location. Proceedings of the 2014 7th International Congress on Image and Signal Processing, Dalian, China.10.1109/CISP.2014.7003916 ↗
47. Rene, J.E., Ortiz, D., Venegas, P., and Vidal, J. (2016, January 12–14). Selection of the Reference Anchor Node by Using SNR in TDOA-Based Positioning. Proceedings of the 2016 IEEE Ecuador Technical Chapters Meeting (ETCM), Guayaquil, Ecuador.10.1109/ETCM.2016.7750813 ↗
48. NLOS Identification and Mitigation for Localization Based on UWB Experimental Data10.1109/JSAC.2010.100907 ↗
49. NLOS Mitigation for UWB Localization Based on Sparse Pseudo-Input Gaussian Process10.1109/JSEN.2018.2818158 ↗
50. (2022, November 27). DecaWave Evk1000 User Manual How To Use, Configure and Interface To the Dw1000. 2013, 1–21. Available online: https://datasheet.octopart.com/EVK1000-Decawave-datasheet-86813690.pdf.
51. Guvenc, I., Chong, C.C., and Watanabe, F. (2007). NLOS Identification and Mitigation for UWB Localization Systems. IEEE Wirel. Commun. Netw. Conf. WCNC, 1573–1578.10.1109/WCNC.2007.296 ↗
52. Identification of the Absence of Direct Path in ToA-Based Indoor Localization Systems10.1007/s10776-008-0084-7 ↗
53. A New Parameter for UWB Indoor Channel Profile Identification10.1109/TWC.2009.070318 ↗
54. Wann, C.D., and Hsueh, C.S. (2007–2, January 30). NLOS Mitigation with Biased Kalman Filters for Range Estimation in UWB Systems. Proceedings of the TENCON 2007–2007 IEEE Region 10 Conference, Taipei, Taiwan.