Related papers: Iterative Path Reconstruction for Large-Scale Iner…

Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…

Thanks to rapid advances in technologies like GPS and Wi-Fi positioning, smartphone users are able to determine their location almost everywhere they go. This is not true, however, of people who are traveling in underground public…

With the widespread adoption of smartphones, ensuring pedestrian safety on roads has become a critical concern due to smartphone distraction. This paper proposes a novel and real-time assistance system called UWB-assisted Safe Walk (UASW)…

Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2)…

Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…

This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…

This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to invariant Kalman filtering is provided to make this cutting-edge symmetry-preserving approach…

While benefiting people's daily life in so many ways, smartphones and their location-based services are generating massive mobile device location data that has great potential to help us understand travel demand patterns and make…

Path delays in IP networks are important metrics, required by network operators for assessment, planning, and fault diagnosis. Monitoring delays of all source-destination pairs in a large network is however challenging and wasteful of…

This paper considers the localization problem in a 5G-aided global navigation satellite system (GNSS) based on real-time kinematic (RTK) technique. Specifically, the user's position is estimated based on the hybrid measurements, including…

State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…

This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that…

Foot-mounted inertial positioning (FMIP) can face problems of inertial drifts and unknown initial states in real applications, which renders the estimated trajectories inaccurate and not obtained in a well defined coordinate system for…

Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an…

Context Progresses in GNSS-based solution introduction in rail applications GNSS (Global Navigation Satellite System) is now used in most of our travels and each of our smartphone apps. Most of the usages are not safety-critical. But Europe…

Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…

In this paper, we address the problem of reconstructing coverage maps from path-loss measurements in cellular networks. We propose and evaluate two kernel-based adaptive online algorithms as an alternative to typical offline methods. The…

We consider the problem of reconstructing vehicle trajectories from sparse sequences of GPS points, for which the sampling interval is between 10 seconds and 2 minutes. We introduce a new class of algorithms, called altogether path…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

Smartphone usage while driving is unanimously considered to be a really dangerous habit due to strong correlation with road accidents. In this paper, the problem of detecting whether the driver is using the phone during a trip is addressed.…