Related papers: On the Performance Limits of Map-Aware Localizatio…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
The task of recognizing goals and plans from missing and full observations can be done efficiently by using automated planning techniques. In many applications, it is important to recognize goals and plans not only accurately, but also…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
Over the last few years, we have witnessed tremendous progress on many subtasks of autonomous driving, including perception, motion forecasting, and motion planning. However, these systems often assume that the car is accurately localized…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
Predictive models for human mobility have important applications in many fields such as traffic control, ubiquitous computing and contextual advertisement. The predictive performance of models in literature varies quite broadly, from as…
The challenge of mastering computational tasks of enormous size tends to frequently override questioning the quality of the numerical outcome in terms of accuracy. By this we do not mean the accuracy within the discrete setting, which…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also…
Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…
In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…
A promising approach to accurate positioning of robots is ground texture based localization. It is based on the observation that visual features of ground images enable fingerprint-like place recognition. We tackle the issue of efficient…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…