Related papers: Robust Odometry using Sensor Consensus Analysis
Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…
An important step in a multi-sensor surveillance system is to estimate sensor biases from their noisy asynchronous measurements. This estimation problem is computationally challenging due to the highly nonlinear transformation between the…
We investigate a monostatic orthogonal frequency-division multiplexing (OFDM)-based joint communication and sensing (JCAS) system for object tracking. Our setup consists of a transmitter and receiver equipped with an antenna array for fully…
Rail and wheel interaction functionality is pivotal to the railway system safety, requiring accurate measurement systems for optimal safety monitoring operation. This paper introduces an innovative onboard measurement system for monitoring…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
In this work, we consider a sensor selection drawn at random by a sampling with replacement policy for a linear time-invariant dynamical system subject to process and measurement noise. We employ the Kalman filter to estimate the state of…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally…
Stability guarantees have emerged as a principled way to evaluate feature attributions, but existing certification methods rely on heavily smoothed classifiers and often produce conservative guarantees. To address these limitations, we…
Input estimation is a signal processing technique associated with deconvolution of measured signals after filtering through a known dynamic system. Kitanidis and others extended this to the simultaneous estimation of the input signal and…
The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…
Localization is a fundamental requirement for an autonomous vehicle system. One of the most often used systems for autonomous vehicle localization is the global positioning system (GPS). Nevertheless, the functionality of GPS is strongly…
Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately measured by wearable sensors. In recent years, invariant…
This paper introduces a novel approach to detect and address faulty or corrupted external sensors in the context of inertial navigation by leveraging a switching Kalman Filter combined with parameter augmentation. Instead of discarding the…
We demonstrate a z-axis accelerometer which uses waveguided light to sense proof mass displacement. The accelerometer consists of two stacked rings (one fixed and one suspended above it) forming an optical ring resonator. As the upper ring…
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
This paper presents an approach to radar odometry on $SE(3)$ which utilizes a constant acceleration motion prior. The motion prior is integrated into a sliding window optimization scheme. We use the Magnus expansion to accurately integrate…
To ensure the authenticity of navigation data, Galileo Open Service navigation message authentication (OSNMA) requires loose synchronization between the receiver clock and the system time. This means that during the period between clock…
This paper addresses the problem of nonlinear state estimation for dynamical systems whose governing equations are approximated through Koopman operator liftings. While Koopman-based predictors have demonstrated broad approximation…