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To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…
This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally…
In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…
LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous…
Achieving top-notch performance in Intelligent Transportation detection is a critical research area. However, many challenges still need to be addressed when it comes to detecting in a cross-domain scenario. In this paper, we propose a…
The localization of moving robots depends on the availability of good features from the environment. Sensor systems like Lidar are popular, but unique features can also be extracted from images of the ground. This work presents the Keypoint…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Location retrieval based on visual information is to retrieve the location of an agent (e.g. human, robot) or the area they see by comparing the observations with a certain form of representation of the environment. Existing methods…
Landmark localization is a challenging problem in computer vision with a multitude of applications. Recent deep learning based methods have shown improved results by regressing likelihood maps instead of regressing the coordinates directly.…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following long-horizon route instructions. This task is particularly challenging due to the dynamic and…
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is widely used in mobile robotics for Simultaneous…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Transformer-based models have made remarkable progress in image restoration (IR) tasks. However, the quadratic complexity of self-attention in Transformer hinders its applicability to high-resolution images. Existing methods mitigate this…
Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Gaze is a valuable means of communication for impaired people with extremely limited motor capabilities. However, robust gaze-based intent recognition in multi-object environments is challenging due to gaze noise, micro-saccades, viewpoint…
Effective placement of Out-of-Home advertising and street furniture requires accurate identification of locations offering maximum visual exposure to target audiences, particularly vehicular traffic. Traditional site selection methods often…