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A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy is not readily available from low-cost Global Navigation Satellite System (GNSS) receivers because of factors such as multipath error and…
Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…
Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…
Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state…
Mobile base stations on board unmanned aerial vehicles (UAVs) promise to deliver connectivity to those areas where the terrestrial infrastructure is overloaded, damaged, or absent. A fundamental problem in this context involves determining…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
Video understanding plays a fundamental role for content moderation on short video platforms, enabling the detection of inappropriate content. While classification remains the dominant approach for content moderation, it often struggles in…
Analog neural networks are highly effective to solve some optimization problems, and they have been used for target localization in distributed multiple-input multiple-output (MIMO) radar. In this work, we design a new relaxed energy…
Autonomous Emergency Braking (AEB) potentially brings significant improvements in automotive safety due to its ability to autonomously prevent collisions in situations where the driver may not be able to do so. Driven by the poor…
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…
Ultra-Reliable and Low-Latency Communications (URLLC) services in vehicular networks on millimeter-wave bands present a significant challenge, considering the necessity of constantly adjusting the beam directions. Conventional methods are…
Labels are widely used in augmented reality (AR) to display digital information. Ensuring the readability of AR labels requires placing them occlusion-free while keeping visual linkings legible, especially when multiple labels exist in the…
We propose a novel method for geolocalizing Unmanned Aerial Vehicles (UAVs) in environments lacking Global Navigation Satellite Systems (GNSS). Current state-of-the-art techniques employ an offline-trained encoder to generate a vector…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
All-weather autonomy is critical for autonomous driving, which necessitates reliable localization across diverse scenarios. While LiDAR place recognition is widely deployed for this task, its performance degrades in adverse weather.…
The target defense problem (TDP) for unmanned surface vehicles (USVs) concerns intercepting an adversarial USV before it breaches a designated target region, using one or more defending USVs. A particularly challenging scenario arises when…
Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
Maintaining grid stability amid widespread electric vehicle (EV) adoption is vital for sustainable transportation. Traditional optimization methods and Reinforcement Learning (RL) approaches often struggle with the high dimensionality and…