Tracko: Ad-hoc Mobile 3D Tracking Using Bluetooth Low Energy and Inaudible Signals ...
summary
An ad-hoc system fuses BLE RSSI lookup table calibration, inaudible stereo chirps for inter-device time-of-flight, and inertial sensing with a Kalman filter to produce relative 3D positions on unmodified phones. Clock offset cancels via a four-time-stamp TOF trick so no synchronization is required. Audio-only distances reach ~2–5 cm error; fused 3D error averages ~6.5 cm within 0.5 m and ~15 cm at 1 m. BLE on-the-fly calibration improves RSSI distance estimates (~17 cm), and it runs without infrastructure.
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chapters (7)
- 0:00Introduction
- 0:36Tracko
- 2:12Related Work
- 3:23Background
- 11:48Evaluation
- 13:34Conclusion
- 15:40Questions
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