Related papers: Inertial Collaborative Localisation for Autonomous…
Low-feature environments are one of the main Achilles' heels of geometric computer vision (CV) algorithms. In most human-built scenes often with low features, lines can be considered complements to points. In this paper, we present a…
We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…
Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown that an invariant formulation of the extended Kalman filter…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
Fine localization is a crucial task for autonomous vehicles. Although many algorithms have been explored in the literature for this specific task, the goal of getting accurate results from commodity sensors remains a challenge. As…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms…
In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…
Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
The problem of adaptive Kalman filtering for a discrete observable linear time-varying system with unknown noise covariance matrices is addressed in this paper. The measurement difference autocovariance method is used to formulate a linear…
Particle filters are computational techniques for estimating the state of dynamical systems by integrating observational data with model predictions. This work introduces a class of Localized Particle Filters (LPFs) that exploit spatial…
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to design an estimator with a desired estimation performance. In…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…
This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that…
Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…