Related papers: WiFi-Inertial Indoor Pose Estimation for Micro Aer…
In this paper we demonstrate that the Canine Pose Estimation (CPE) system can provide a reliable estimate for some poses and when coupled with effective wireless transmission over a mesh network. Pose estimates are time sensitive, thus it…
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimise…
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…
We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…
This paper proposes passive WiFi indoor localization. Instead of using WiFi signals received by mobile devices as fingerprints, we use signals received by routers to locate the mobile carrier. Consequently, software installation on the…
Positioning accuracy is a critical requirement for vehicle-to-everything (V2X) use cases. Therefore, this paper derives the theoretical limits of estimation for the position and orientation of vehicles in a cooperative vehicle-to-vehicle…
This paper presents Piggyback Camera, an easy-to-deploy system for visual surveillance using commercial robot vacuums. Rather than requiring access to internal robot systems, our approach mounts a smartphone equipped with a camera and…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
Wi-Fi access points have been widely deployed in homes, offices, and public spaces. Some APs allow users to adjust the antenna orientation to improve communication performance by optimizing antenna polarization. However, it is difficult for…
The consumer UAV (unmanned aerial vehicle) market has grown significantly over the past few years. Despite its huge potential in spurring economic growth by supporting various applications, the increase of consumer UAVs poses potential…
The angle of Arrival (AoA) estimation is of great interest in modern communication systems. Traditional maximum likelihood-based iterative algorithms are sensitive to initialization and cannot be used online. We propose a Bayesian method to…
This paper introduces a deep transformer network for estimating the relative 6D pose of a Unmanned Aerial Vehicle (UAV) with respect to a ship using monocular images. A synthetic dataset of ship images is created and annotated with 2D…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…
Intelligent Transportation Systems (ITSs) require ultra-low end-to-end delays and multi-gigabit-per-second data transmission. Millimetre Waves (mmWaves) communications can fulfil these requirements. However, the increased mobility of…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
In recent years, the technology in visual-inertial odometry (VIO) has matured considerably and has been widely used in many applications. However, we still encounter challenges when applying VIO to a micro air vehicle (MAV) equipped with a…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
In this paper, we present a novel stereo visual inertial pose estimation method. Compared to the widely used filter-based or optimization-based approaches, the pose estimation process is modeled as a control system. Designed feedback or…
Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…