Related papers: Localization with Directional Coordinates
Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
This research presents a novel method of determining relative bearing and elevation measurements, to a remote signal, that is suitable for implementation on small embedded systems - potentially in a GPS denied environment. This is an…
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…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
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…
The construction of a radar coordinate system about the world line of an observer is discussed. Radar coordinates for a hyperbolic observer as well as a uniformly rotating observer are described in detail. The utility of the notion of radar…
To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean…
The Classical Coordinate System is geometrical by nature with time being an external variable. Constructing a classical coordinate system employs a point-like signal with infinite speed. In Special Relativity Theory the speed is limited but…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center.…
Localization is a fundamental capability for autonomous robots, enabling them to operate effectively in dynamic environments. In Robocon 2025, accurate and reliable localization is crucial for improving shooting precision, avoiding…