Related papers: Set-theoretic Localization for Mobile Robots with …
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
In this paper we investigate the problem of localizing a mobile device based on readings from its embedded sensors utilizing machine learning methodologies. We consider a real-world environment, collect a large dataset of 3110 datapoints,…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
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,…
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 operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…