Related papers: A study and design of localization system for mobi…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…
In this paper we apply an extended Kalman filter to track both the location and the orientation of a mobile target from multistatic response measurements. We also analyze the effect of the limited-view aspect on the stability and the…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…
The estimation of spatiotemporal data from limited sensor measurements is a required task across many scientific disciplines. The sensor selection problem, which aims to optimize the placement of sensors, leverages innovations in greedy…
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
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…