Related papers: Neural Inertial Localization
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and…
This paper explores a method of localization and navigation of indoor mobile robots using a node graph of landmarks that are based on fiducial markers. The use of ArUco markers and their 2D orientation with respect to the camera of the…
Scene coordinate regression achieves impressive results in outdoor LiDAR localization but requires days of training. Since training needs to be repeated for each new scene, long training times make these methods impractical for…
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…
The current fusion positioning systems are mainly based on filtering algorithms, such as Kalman filtering or particle filtering. However, the system complexity of practical application scenarios is often very high, such as noise modeling in…
Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
Recent years have witnessed fast growth in outdoor location-based services. While GPS is considered a ubiquitous localization system, it is not supported by low-end phones, requires direct line of sight to the satellites, and can drain the…
In this work, we propose a novel method for performing inertial aided navigation, by using deep neural networks (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and…
Indoor location identification and navigation need to be as simple, seamless, and ubiquitous as its outdoor GPS-based counterpart is. It would be of great convenience to the mobile user to be able to continue navigating seamlessly as he or…
Accurate indoor positioning for wireless communication systems represents an important step towards enhanced reliability and security, which are crucial aspects for realizing Industry 4.0. In this context, this paper presents an…
In this paper, we study the problem of localizing the sensors' positions in presence of denial-of-service (DoS) attacks. We consider a general attack model, in which the attacker action is only constrained through the frequency and duration…
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…
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…
Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR…
In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…
Indoor localization has become increasingly vital for many applications from tracking assets to delivering personalized services. Yet, achieving pinpoint accuracy remains a challenge due to variations across indoor environments and devices…
Increasing sources of sensor measurements and prior knowledge have become available for indoor localization on smartphones. How to effectively utilize these sources for enhancing localization accuracy is an important yet challenging…
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…