Related papers: Reliable GNSS Localization Against Multiple Faults…
Global Navigation Satellite Systems (GNSS) provide Positioning, Navigation, and Timing (PNT) information to over 4 billion devices worldwide. Despite its pervasive use in safety critical and high precision applications, GNSS remains…
Increasing numbers of mobile computing devices, user-portable, or embedded in vehicles, cargo containers, or the physical space, need to be aware of their location in order to provide a wide range of commercial services. Most often, mobile…
Global Navigation Satellite System (GNSS) provides Positioning, Navigation, and Timing (PNT) services for autonomous vehicles (AVs) using satellites and radio communications. Due to the lack of encryption, open-access of the coarse…
GNSS localization is an important part of today's autonomous systems, although it suffers from non-Gaussian errors caused by non-line-of-sight effects. Recent methods are able to mitigate these effects by including the corresponding…
The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
This paper considers the localization problem in a 5G-aided global navigation satellite system (GNSS) based on real-time kinematic (RTK) technique. Specifically, the user's position is estimated based on the hybrid measurements, including…
Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the covariance reported by the GNSS solver is often unreliable in urban canyons. Existing differentiable factor graph optimization (DFGO) methods…
This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Global Navigation Satellite System (GNSS) spoofing and jamming threaten maritime navigation by corrupting positions from Automatic Identification System (AIS) transponders. Crucially, raw AIS messages contain communication-layer defects…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
This paper presents a model-based method for fusing data from multiple sensors with a hypothesis-test-based component for rejecting potentially faulty or otherwise malign data. Our framework is based on an extension of the classic particle…
In this work we propose an approximate Minimum Mean-Square Error (MMSE) filter for linear dynamic systems with Gaussian Mixture noise. The proposed estimator tracks each component of the Gaussian Mixture (GM) posterior with an individual…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
Background modeling is widely used for intelligent surveillance systems to detect moving targets by subtracting the static background components. Most roadside LiDAR object detection methods filter out foreground points by comparing new…
Android raw Global Navigation Satellite System (GNSS) measurements are expected to bring smartphones power to take on demanding localization tasks that are traditionally performed by specialized GNSS receivers. The hardware constraints,…
In a global numerical weather prediction (NWP) modeling framework we study the implementation of Gaussian uncertainty of individual particles into the assimilation step of a localized adaptive particle filter (LAPF). We obtain a local…