Related papers: Optimization-based Alignment for Strapdown Inertia…
Misalignment angle will result in a considerable error for the integration of Doppler Velocity Log (DVL) and of Strapdown Inertial Navigation System (SINS). In this paper, a robust initial alignment method for SINS/DVL is proposed to solve…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…
Orbit determination of spacecraft in orbit has been mostly dependent on either GNSS satellite signals or ground station telemetry. Both methods present their limitations, however: GNSS signals can only be used effectively in earth orbit,…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard a UAV (Unmanned Air Vehicle) by supplementing its pose…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and the…
Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation…
As the current initialization method in the state-of-the-art Stereo Visual-Inertial SLAM framework, ORB-SLAM3 has limitations. Its success depends on the performance of the pure stereo SLAM system and is based on the underlying assumption…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
Physics-informed neural networks (PINNs) have emerged as a powerful framework for modeling physical systems and solving inverse problems. In such settings, sensors are deployed to capture observable system responses; however, the quality of…
Efficient observer design and accurate sensor fusion are key in state estimation. This work proposes an optimization-based methodology, termed Trajectory Based Optimization Design (TBOD), allowing the user to easily design observers for…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…