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TOR -- Infrastructure-free cooperative localization

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Published on Oct 11, 2013

Last week we tested our TOR (Tactical lOcatoR) system on smoke divers performing search operations in the KTH R1 reactor hall. The video shows the realtime localization results displayed in the Android GUI. (It speeds up to x4 after 1:30)

For further information see:
J.-O. Nilsson, D. Zachariah, I. Skog, and P. Händel, "Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging," CoRR, vol. abs/1304.3663, 2013. http://arxiv.org/abs/1304.3663.

Thanks to firefighters from Attunda and Uppsala!

Thanks to the researchers involved in the measurements:
Jouni Rantakokko, Martin Ohlsson, prof. Peter Händel, and prof. KVS Hari

GUI programming: Tore Rudberg

The TOR system was built at the Signal Processing Department at KTH Royal Institute of Technology.

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