Related papers: rWiFiSLAM: Effective WiFi Ranging based SLAM Syste…
The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our experiments, we find that current LiDAR SLAM systems have…
We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…
This paper advances the field of pedestrian localization by introducing a unifying framework for opportunistic positioning based on nonlinear factor graph optimization. While many existing approaches assume constant availability of one or…
Wi-Fi sensing has been extensively explored for various applications, including vital sign monitoring, human activity recognition, indoor localization, and tracking. However, practical implementation in real-world scenarios is hindered by…
Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…
The past years have witnessed increasing research interest in achieving passive human localization with commodity WiFi devices. However, due to the fundamental limited spatial resolution of WiFi signals, it is still very difficult to…
Recently, round-trip time (RTT) measured by a fine-timing measurement protocol has received great attention in the area of WiFi positioning. It provides an acceptable ranging accuracy in favorable environments when a line-of-sight (LOS)…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…
Indoor positioning is an enabling technology for home, office, and industrial network users because it provides numerous information and communication technology (ICT) and Internet of things (IoT) functionalities such as indoor navigation,…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the…
Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…
Imaging radar is an emerging sensor modality in the context of Localization and Mapping (SLAM), especially suitable for vision-obstructed environments. This article investigates the use of 4D imaging radars for SLAM and analyzes the…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…
While it is often critical for indoor-location- and proximity-aware applications to know whether a user is in a space or not (e.g., a specific room or office), a key challenge is that the difference between standing on one side or another…
We introduce LIDAUS Localization of IoT Device via Anchor UAV SLAM), an infrastructure-free, multi-stage SLAM system that utilizes an Unmanned Aerial Vehicle (UAV) to accurately localize IoT devices in a 3D indoor space where GPS signals…
Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the…
In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…
Human localization is gaining momentum in security, healthcare, logistics, and smart spaces applications. While global navigation systems are unreliable indoor, device-free (a.k.a. passive) localization methods that exploit human-induced…