Related papers: Velocity/Position Integration Formula (I): Applica…
The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…
Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such cluttered or GNSS-denied…
This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
This paper proposes a feature-based Visual Servoing (VS) method for insertion task skills. A camera mounted on the robot's end-effector provides the pose relative to a cylinder (hole), allowing a contact-free and damage-free search of the…
Time of flight based Non-line-of-sight (NLOS) imaging approaches require precise calibration of illumination and detector positions on the visible scene to produce reasonable results. If this calibration error is sufficiently high,…
The output-error method is a mainstay of aircraft system identification from flight-test data. It is the method of choice for a wide range of applications, from the estimation of stability and control derivatives for aerodynamic database…
This paper presents DeepKalPose, a novel approach for enhancing temporal consistency in monocular vehicle pose estimation applied on video through a deep-learning-based Kalman Filter. By integrating a Bi-directional Kalman filter strategy…
This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…
This paper describes the development of a novel algorithm to tackle the problem of real-time video stabilization for unmanned aerial vehicles (UAVs). There are two main components in the algorithm: (1) By designing a suitable model for the…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Nonlinear pose (\textit{i.e,} attitude and position) filters are characterized with simpler structure and better tracking performance in comparison with other methods of pose estimation. A critical factor when designing a nonlinear pose…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
5G New Radio Time of Arrival (ToA) data has the potential to revolutionize indoor localization for micro aerial vehicles (MAVs). However, its performance under varying network setups, especially when combined with IMU data for real-time…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…