Related papers: A Closed-form Localization Method Utilizing Pseudo…
The location of a robot is a key aspect in the field of mobile robotics. This problem is particularly complex when the initial pose of the robot is unknown. In order to find a solution, it is necessary to perform a global localization. In…
Cooperative positioning with multiple low earth orbit (LEO) satellites is promising in providing location-based services and enhancing satellite-terrestrial communication. However, positioning accuracy is greatly affected by inter-beam…
This paper investigates the Sensor Network Localization (SNL) problem, which seeks to determine sensor locations based on known anchor locations and partially given anchors-sensors and sensors-sensors distances. Two primary methods for…
Traditional visible light positioning (VLP) systems estimate receivers' coordinates based on the known light-emitting diode (LED) coordinates. However, the LED coordinates are not always known accurately. Because of the structural changes…
The magnetic near-field provides a suitable means for indoor localization, due to its insensitivity to the environment and strong spatial gradients. We consider indoor localization setups consisting of flat coils, allowing for convenient…
This paper proposes a method for the three-dimensional localization of an active aerial target by a single ground based sensor. The proposed method employs the time and frequency differences of arrival of the signal received directly from…
In this paper, we study performance limits of sensor localization from a novel perspective. Specifically, we consider the Cramer-Rao Lower Bound (CRLB) in single-hop sensor localization using measurements from received signal strength…
Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to introducing geometry constraints of the prior scene structure.…
We introduce WiCluster, a new machine learning (ML) approach for passive indoor positioning using radio frequency (RF) channel state information (CSI). WiCluster can predict both a zone-level position and a precise 2D or 3D position,…
This work considers the three-dimensional (3-D) positioning problem in a Terahertz (THz) system enabled by a modular extra-large (XL) array with sub-connected architecture. Our purpose is to estimate the Cartesian Coordinates of multiple…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
Localization on 3D data is a challenging task for unmanned vehicles, especially in long-term dynamic urban scenarios. Due to the generality and long-term stability, the pole-like objects are very suitable as landmarks for unmanned vehicle…
With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…
We study time difference of arrival (TDoA)-based algorithms for drone controller localization and analyze TDoA estimation in multipath channels. Building on TDoA estimation, we propose two algorithms to enhance localization accuracy in…
Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…