The rapid development of the Bluetooth technology offers a possible solution for indoor localization scenarios. Compared with other indoor localization technologies, such as vision, light detection and ranging, ultrawide band, etc., Bluetooth has been characterized by low cost, easy deployment, low energy consumption, and potentially high localization accuracy, which enable itself to be a competitive technology in indoor location-based services, the Internet of Things, and many other fields. In this article, we first present a comprehensive survey of Bluetooth localization technology, including the measurements for localization, working principles, and method comparison. We highlight the learning-based methods and integrated localization methods. Then, we review the applications and existing commercial solutions, revealing the possible directions for the industrialization of Bluetooth localization. Finally, this article proposes several open issues of Bluetooth localization (e.g., multichannel difference, multipath, co-channel interference, and device heterogeneity) and projects several future trends.

Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height. Previous studies have used 3D radars for ego-motion estimation. But few methods leveraged the rich data of imaging radars, and they usually omitted the mapping aspect, thus leading to inferior odometry accuracy. This paper presents a real-time imaging radar inertial odometry and mapping method, iRIOM, based on the submap concept. To deal with moving objects and multipath reflections, we use the graduated non-convexity method to robustly and efficiently estimate ego-velocity from a single scan. To measure the agreement between sparse non-repetitive radar scan points and submap points, the distribution-to-multi-distribution distance for matches is adopted. The ego-velocity, scan-to-submap matches are fused with the 6D inertial data by an iterative extended Kalman filter to get the platform's 3D position and orientation. A loop closure module is also developed to curb the odometry module's drift. To our knowledge, iRIOM based on the two modules is the first 4D radar inertial SLAM system. On our and third-party data, we show iRIOM's favorable odometry accuracy and mapping consistency against the FastLIO-SLAM and the EKFRIO. Also, the ablation study reveal the benefit of inertial data versus the constant velocity model, and scan-to-submap matching versus scan-to-scan matching.

Camera–inertial measurement unit (IMU) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with self-calibration have been presented. However, it has been uncertain whether the intrinsic parameters of both the camera and the IMU are observable under general motion. To answer this question, by using the Lie derivatives, we first prove that for a rolling shutter (RS) camera–IMU system, all the intrinsic and extrinsic parameters, camera time offset, and readout time of the RS camera are observable with an unknown landmark. To our knowledge, we are the first to present such a proof. Next, to validate this analysis and to solve the drift issue of a structureless filter during standstills, we develop a keyframe-based sliding window filter (KSWF) for odometry and self-calibration, which works with a monocular RS camera or stereo RS cameras. Though the keyframe concept is widely used in vision-based sensor fusion, to our knowledge, the KSWF is the first of its kind to support self-calibration. Our simulation and real data tests have validated that it is possible to fully calibrate the camera–IMU system using the observations of opportunistic landmarks under diverse motion. Real data tests confirmed previous allusions that keeping landmarks in the state vector can remedy the drift in standstill and showed that the keyframe-based scheme is an alternative solution.

The Rolling Shutter (RS) mechanism is widely used in consumer-grade cameras, which are essential parts in smartphones and autonomous vehicles. RS leads to image distortion when the camera moves relative to the scene while capturing images. This effect needs to be considered in structure-from-motion, and vision-aided odometry, for which recent studies have extended Global Shutter (GS) methods to RS cameras. So far, it has been unclear how the RS affects spatiotemporal calibration of the camera in a multi-sensor system, which is crucial for good performance of aforementioned applications. This work takes the camera-IMU system as an example and looks into how the RS affects its spatiotemporal calibration. We develop a continuous-time calibration method for a RS camera-IMU system based on basis splines by using a calibration target. Considering the RS, every observation of a landmark on the target corresponds to a unique camera pose fitted by B-splines. Tests conducted on simulated data generated from public calibration datasets showed that the RS can noticeably affect accuracy of the camera extrinsic parameters, causing errors about 0.5° in orientation and 2 cm in translation with a setting common to smartphone cameras. With real data collected by two industrial camera-IMU systems, we found that considering the RS effect gives more accurate and consistent spatiotemporal calibration. These tests also revealed the impact of alternative IMU models and of the continuous-time versus discrete-time representation on camera extrinsic calibration, and the degradation of visual inertial odometry by extrinsic calibration errors.

Many Chinese cities have severe air pollution due to the rapid development of the Chinese economy, urbanization, and industrialization. Particulate matter (PM2.5) is a significant component of air pollutants. It is related to cardiopulmonary and other systemic diseases because of its ability to penetrate the human respiratory system. Forecasting air PM2.5 is a critical task that helps governments and local authorities to make necessary plans and actions. Thus, in the current study, we develop a new deep learning approach to forecast the concentration of PM2.5 in three major cities in China, Beijing, Shijiazhuang, and Wuhan. The developed model is based on the Informer architecture, where the attention distillation block is improved with a residual block-inspired structure from efficient networks, and we named the model ResInformer. We use air quality index datasets that cover 98 months collected from 1 January 2014 to 17 February 2022 to train and test the model. We also test the proposed model for 20 months. The evaluation outcomes show that the ResInformer and ResInformerStack perform better than the original model and yield better forecasting results. This study’s methodology is easily adapted for similar efforts of fast computational modeling.

More and more devices, such as Bluetooth and IEEE 802.15.4 devices forming Wireless Personal Area Networks (WPANs) and IEEE 802.11 devices constituting Wireless Local Area Networks (WLANs), share the 2.4 GHz Industrial, Scientific and Medical (ISM) band in the realm of the Internet of Things (IoT) and Smart Cities. However, the coexistence of these devices could pose a real challenge—co-channel interference that would severely compromise network performances. Although the coexistence issues has been partially discussed elsewhere in some articles, there is no single review that fully summarises and compares recent research outcomes and challenges of IEEE 802.15.4 networks, Bluetooth and WLANs together. In this work, we revisit and provide a comprehensive review on the coexistence and interference mitigation for those three types of networks. We summarize the strengths and weaknesses of the current methodologies, analysis and simulation models in terms of numerous important metrics such as the packet reception ratio, latency, scalability and energy efficiency. We discover that although Bluetooth and IEEE 802.15.4 networks are both WPANs, they show quite different performances in the presence of WLANs. IEEE 802.15.4 networks are adversely impacted by WLANs, whereas WLANs are interfered by Bluetooth. When IEEE 802.15.4 networks and Bluetooth co-locate, they are unlikely to harm each other. Finally, we also discuss the future research trends and challenges especially Deep-Learning and Reinforcement-Learning-based approaches to detecting and mitigating the co-channel interference caused by WPANs and WLANs.