Related papers: Vehicle Localization and Control on Roads with Pri…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
We present a novel framework for global localization and guided relocalization of a vehicle in an unstructured environment. Compared to existing methods, our pipeline does not rely on cues from urban fixtures (e.g., lane markings,…
Accurate mobile device localization is critical for emerging 5G/6G applications such as autonomous vehicles and augmented reality. In this paper, we propose a unified localization method that integrates model-based and machine learning…
Autonomous driving is a rapidly evolving technology. Autonomous vehicles are capable of sensing their environment and navigating without human input through sensory information such as radar, lidar, GNSS, vehicle odometry, and computer…
We propose a framework for Google Map aided UAV navigation in GPS-denied environment. Geo-referenced navigation provides drift-free localization and does not require loop closures. The UAV position is initialized via correlation, which is…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
The development of cooperative vehicle safety (CVS) applications, such as collision warnings, turning assistants, and speed advisories, etc., has received great attention in the past few years. Accurate vehicular localization is essential…
The goal of this paper is to investigate a decision support system for vehicle routing, where the routing engine learns from the subjective decisions that human planners have made in the past, rather than optimizing a distance-based…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
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.…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Future wireless network technology provides automobiles with the connectivity feature to consolidate the concept of vehicular networks that collaborate on conducting cooperative driving tasks. The full potential of connected vehicles, which…
High-definition maps (HD maps) are a key component of most modern self-driving systems due to their valuable semantic and geometric information. Unfortunately, building HD maps has proven hard to scale due to their cost as well as the…
Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…
Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…
Robust and fine localization algorithms are crucial for autonomous driving. For the production of such vehicles as a commodity, affordable sensing solutions and reliable localization algorithms must be designed. This work considers…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
One of the most useful applications of intelligent aerial robots sometimes called Unmanned Aerial Vehicles (UAV) in Australia is known to be in bushfire monitoring and prediction operations. A swarm of autonomous drones/UAVs programmed to…