Related papers: An Improved Positioning Accuracy Method of a Robot…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
This paper addresses the localization problem. The extended Kalman filter (EKF) is employed to localize a unicycle-like mobile robot equipped with a laser range finder (LRF) sensor and an omni-directional camera. The LRF is used to scan the…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…
In the presented scenario, an autonomous surface vehicle (ASV) equipped with a laser scanner navigates on a inland pathway surrounded and crossed by man-made structures such as bridges and locks. {GPS} receiver present on board experiences…
Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…
We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
We propose a novel object localization methodology with the purpose of boosting the localization accuracy of state-of-the-art object detection systems. Our model, given a search region, aims at returning the bounding box of an object of…
This paper presents a novel problem of creating and regulating localization and navigation illusions considering two agents: a receiver and a producer. A receiver is moving on a plane localizing itself using the intensity of signals from…
The advantages of millimeter-wave and large antenna arrays technologies for accurate wireless localization received extensive attentions recently. However, how to further improve the accuracy of wireless localization, even in the case of…
This study presents a methodology for determining the optimal base placement of a Fanuc CRX10iA/L collaborative robot for a desired trajectory corresponding to an industrial task. The proposed method uses a particle swarm optimization…
When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps…
Neural Radiance Fields (NeRFs) have made great success in representing complex 3D scenes with high-resolution details and efficient memory. Nevertheless, current NeRF-based pose estimators have no initial pose prediction and are prone to…
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…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…