Related papers: UWB/LiDAR Fusion For Cooperative Range-Only SLAM
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
Ultra-wideband (UWB) is the state-of-the-art and most popular technology for wireless localization. Nevertheless, precise ranging and localization in non-line-of-sight (NLoS) conditions is still an open research topic. Indeed, multipath…
Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
This paper introduces an innovative approach to Simultaneous Localization and Mapping (SLAM) using the Unscented Kalman Filter (UKF) in a dynamic environment. The UKF is proven to be a robust estimator and demonstrates lower sensitivity to…
This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…
Ultra-wideband (UWB) technology is a mature technology that contested other wireless technologies in the advent of the IoT but did not achieve the same levels of widespread adoption. In recent years, however, with its potential as a…
This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo…
Simultaneous localization and mapping (SLAM) is one of the essential techniques and functionalities used by robots to perform autonomous navigation tasks. Inspired by the rodent hippocampus, this paper presents a biologically inspired SLAM…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…
Precise localization and tracking of moving non-collaborative persons and objects using a network of ultra-wideband (UWB) radar nodes has been shown to represent a practical and effective approach. In UWB radar sensor networks (RSNs),…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…
This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…
Distributed radar sensors enable robust human activity recognition. However, scaling the number of coordinated nodes introduces challenges in feature extraction from large datasets, and transparent data fusion. We propose an end-to-end…
This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…