Related papers: Efficient Planar Pose Estimation via UWB Measureme…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
A robust pose estimation algorithm based on an extended Kalman filter using measurements from accelerometers, rate gyroscopes, monocular vision and ultra-wideband radar is presented. The sensor fusion and pose estimation algorithm…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…
We present a novel distributed Gauss-Newton method for the non-linear state estimation (SE) model based on a probabilistic inference method called belief propagation (BP). The main novelty of our work comes from applying BP sequentially…
We extend the weighted ensemble (WE) path sampling method to perform rigorous statistical sampling for systems at steady state. The straightforward steady-state implementation of WE is directly practical for simple landscapes, but not when…
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy. In this paper, ultra-wideband (UWB) ranging-based T&R is…
Traditional Direction of Arrival (DOA) estimation methods struggle to simultaneously address three physical constraints in Ultra-Wideband (UWB) electromagnetic sensing: spatial undersampling, asynchronous array phase, and beam squint.…
This paper considers state estimation for general nonlinear discrete-time systems subject to measurement noise and possibly unbounded unknown inputs. To approach this problem, we first propose the concept of strong nonlinear detectability.…
In this paper, we study the placement of Phasor Measurement Units (PMU) for enhancing hybrid state estimation via the traditional Gauss-Newton method, which uses measurements from both PMU devices and Supervisory Control and Data…
In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…
In this paper, we propose a novel Fine-Tuned attribute Weighted Na\"ive Bayes (FT-WNB) classifier to identify the Line-of-Sight (LoS) and Non-Line-of-Sight (NLoS) for UltraWide Bandwidth (UWB) signals in an Indoor Positioning System (IPS).…
This paper presents opt-in camera, a concept of privacy-preserving camera systems capable of recording only specific individuals in a crowd who explicitly consent to be recorded. Our system utilizes a mobile wireless communication tag…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
Accurate localization is essential for a wide range of applications, including asset tracking, smart agriculture, and animal monitoring. While traditional localization methods, such as Global Navigation Satellite System (GNSS), Wi-Fi, and…
Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
With the rising demand for indoor localization, high precision technique-based fingerprints became increasingly important nowadays. The newest advanced localization system makes effort to improve localization accuracy in the time or…