Related papers: A General Framework for Multi-vehicle Cooperative …

Multi-point vehicular positioning is one essential operation for autonomous vehicles. However, the state-of-the-art positioning technologies, relying on reflected signals from a target (i.e., RADAR and LIDAR), cannot work without…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…

For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…

We study the problem of recovering the relative positions of objects moving along the real line based only on pairwise collision data. While interaction-based sensing systems arise naturally in a variety of practical settings, a systematic…

For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…

An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…

The development of vehicle-to-vehicle (V2V) communication facil-itates the study of cooperative positioning (CP) techniques for vehicular applications. The CP methods can improve the posi-tioning availability and accuracy by inter-vehicle…

Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…

Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

Accurate vehicle localization is indispensable to autonomous vehicles, but is difficult to realize in complicated application scenarios. Intersection scenarios that suffer from environmental shielding and crowded dynamic objects are…

Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…

Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…

High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…

Visual localization is an essential component of intelligent transportation systems, enabling broad applications that require understanding one's self location when other sensors are not available. It is mostly tackled by image retrieval…

Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…

Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…

We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…

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…