Related papers: ZUPT Aided GNSS Factor Graph with Inertial Navigat…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Inertial measurement unit (IMU) preintegration is widely used in factor graph optimization (FGO); e.g., in visual-inertial navigation system and global navigation satellite system/inertial navigation system (GNSS/INS) integration. However,…
Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncertainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and…
A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique commonly used in commercial robots such as drones and robot…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
Accurately estimating vehicle velocity via smartphone is critical for mobile navigation and transportation. This paper introduces a cutting-edge framework for velocity estimation that incorporates temporal learning models, utilizing…
In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…
State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…