XR-PALS
A Mixed Reality Tool to Easily Set Up Indoor Tracking for Robots and Drones
A Mixed Reality Tool to Easily Set Up Indoor Tracking for Robots and Drones
XR-PALS is an open-source research project aimed at improving indoor positioning systems for mobile robots using mixed reality technologies. It integrates ultra-wideband (UWB) tracking with intuitive spatial setup tools to simplify the deployment of localization infrastructure in dynamic indoor environments.
Precise indoor positioning is essential for safe operation of mobile robots in dynamic environments. XR-PALS addresses the challenges of configuring indoor localization systems by providing an intuitive mixed reality interface that bridges virtual and physical space. The system simplifies setup, reduces errors, and minimizes cognitive load for researchers and practitioners to facilitate non-stationary, structurally-free tracking systems.
The XR-PALS system leverages the Crazyflie Loco Positioning System, a UWB-based localization platform. Traditional setup of UWB anchors requires time-consuming manual measurements, often using laser distance meters and complex calculations for non-rectangular layouts. XR-PALS replaces this with a seamless mixed-reality approach.
A comprehensive user study compared XR-PALS to traditional laser-based setup methods. The study demonstrated that XR-PALS significantly reduces task completion time, measurement errors, and cognitive workload.
Read the full publication here (Author's submitted manuscript; accepted for publication in Extended Reality)
Reduction in Setup Completion Time
Increased Measurement Accuracy
The VR interface of XR-PALS allows intuitive manipulation of anchor positions directly in virtual space, synced to the physical hardware setup.
Anchors equipped with UWB modules mounted on moveable tripods.
Required Hardware:
This video demonstrator shows how to manually set up and use XR-PALS together with the Crazyflie Loco Positioning System. It provides a quick overview of how the mixed reality interface simplifies the placement and configuration of UWB anchors for precise indoor localization.
You are welcome to contact us for consulting services on ordering, setup, usage, integration, or extension of the XR-PALS system. This project is primarily aimed at research institutions, the open-source community, and interested private individuals.
Contact: dominik [dot] grzelak [ät] tu-dresden [dot] de
