Related papers: VIO-UWB-Based Collaborative Localization and Dense…
Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…
Terrestrial robots, i.e., unmanned ground vehicles (UGVs), and aerial robots, i.e., unmanned aerial vehicles (UAVs), operate in separate spaces. To exploit their complementary features (e.g., fields of views, communication links, computing…
Unmanned aerial vehicles (UAVs) have emerged as the potential aerial base stations (BSs) to improve terrestrial communications. However, the limited onboard energy and antenna power of a UAV restrict its communication range and transmission…
Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…
We present a novel algorithm for computing collision-free navigation for heterogeneous road-agents such as cars, tricycles, bicycles, and pedestrians in dense traffic. Our approach currently assumes the positions, shapes, and velocities of…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Image retrieval has been employed as a robust complementary technique to address the challenge of Unmanned Aerial Vehicles (UAVs) self-positioning. However, most existing methods primarily focus on localizing objects captured by UAVs…
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…
Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Ultra-wideband positioning systems intended for indoor applications often work in non-line of sight conditions, which result in insufficient precision and accuracy of derived localizations. One of the possible solutions is the…
Transporting heavy or oversized slung loads using rotorcraft has traditionally relied on single-aircraft systems, which limits both payload capacity and control authority. Cooperative multilift using teams of rotorcraft offers a scalable…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything…
Scene reconstruction from unorganized RGB images is an important task in many computer vision applications. Multi-view Stereo (MVS) is a common solution in photogrammetry applications for the dense reconstruction of a static scene. The…
Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…