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This paper provides an orientation angle optimization method for the design of fiber-reinforced composite materials using topology optimization. The orientation angle optimization is based on a topological derivative, which measures the…
This work analyzes unobservable directions of Vision-aided Inertial Navigation System (VINS) and Lidar-aided Inertial Navigation System (LINS) nonlinear model. Under the assumption that there exist two features observed by the camera…
One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of autonomy property of navigation model in inertial, earth and…
Most existing image keypoint detection and description methods rely on datasets with accurate pose and depth annotations, limiting scalability and generalization, and often degrading navigation and localization performance. We propose ViBA,…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…
In this paper, we propose a new strategy for learning inertial robotic navigation models. The proposed strategy enhances the generalisability of end-to-end inertial modelling, and is aimed at wheeled robotic deployments. Concretely, the…
In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
Integrated superconducting spectrometers (ISSs) for wideband sub-mm astronomy utilise quasi-optical systems for coupling radiation from the telescope to the instrument. Misalignment in these systems is detrimental to the system performance.…
Weakly supervised oriented object detection (WS-OOD) has gained attention as a cost-effective alternative to fully supervised methods, providing both efficiency and high accuracy. Among weakly supervised approaches, horizontal bounding box…
Optical sensors are often mounted on moving platforms to aid in a variety of tasks like data collection, surveillance and navigation. This necessitates the precise control of the inertial orientation of the optical sensor line-of-sight…
This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formulated as a cascade architecture that separates translational…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
This paper develops new variance-reduction techniques for the forward-reflected-backward splitting (FRBS) method to solve a class of possibly nonmonotone stochastic composite inclusions. Unlike unbiased estimators such as mini-batching,…
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…
Odometer-aided visual-inertial SLAM systems typically have a good performance for navigation of wheeled platforms, while they usually suffer from degenerate cases before the first turning. In this paper, firstly we perform an observability…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…