Related papers: Measurement Errors in Range-Based Localization Alg…
This paper presents an experimental study of the air-to-ground (AG) propagation channel through ultrawideband(UWB) measurements in an open area using unmanned-aerial-vehicles (UAVs). Measurements were performed using UWB radios operating at…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
LiDAR-based 3D detection plays a vital role in autonomous navigation. Surprisingly, although autonomous vehicles (AVs) must detect both near-field objects (for collision avoidance) and far-field objects (for longer-term planning),…
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…
The use of small and remotely controlled unmanned aerial vehicles (UAVs), or drones, has increased in recent years. This goes in parallel with misuse episodes, with an evident threat to the safety of people or facilities. As a result, the…
This study investigates the impact of ground sample distance (GSD) on the detection performance of various sized aircraft using the proprietary AllPlanes 120 dataset. The data set comprises 120 civilian, military and museum aircraft from…
Extensive use of unmanned aerial vehicles (UAVs) is expected to raise privacy and security concerns among individuals and communities. In this context, the detection and localization of UAVs will be critical for maintaining safe and secure…
When performing robot/vehicle localization using ground penetrating radar (GPR) to handle adverse weather and environmental conditions, existing techniques often struggle to accurately estimate distances when processing B-scan images with…
Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…
During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an…
Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance estimation from time-of-flight measurements of wireless…
Due to their capability of acquiring aerial imagery, camera-equipped Unmanned Aerial Vehicles (UAVs) are very cost-effective tools for acquiring traffic information. However, not enough attention has been given to the validation of the…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
The proliferation of drones, or unmanned aerial vehicles (UAVs), has raised significant safety concerns due to their potential misuse in activities such as espionage, smuggling, and infrastructure disruption. This paper addresses the…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress in neural rendering, but the general fidelity of large-scale…