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Given that Visual SLAM relies on appearance cues for localization and scene understanding, texture-less or visually degraded environments (e.g., plain walls or low lighting) lead to poor pose estimation and track loss. However, robots are…
5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…
In this paper, we present an efficient pedestrian detection system, designed by fusion of multiple deep neural network (DNN) systems. Pedestrian candidates are first generated by a single shot convolutional multi-box detector at different…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
A pedestrian navigation system (PNS) in indoor environments, where global navigation satellite system (GNSS) signal access is difficult, is necessary, particularly for search and rescue (SAR) operations in large buildings. This paper…
This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework is…
Absolute positioning is an essential factor for the arrival of autonomous driving. Global Navigation Satellites System (GNSS) receiver provides absolute localization for it. GNSS solution can provide satisfactory positioning in open or…
In this paper, we present a real-time robust multi-view pedestrian detection and tracking system for video surveillance using neural networks which can be used in dynamic environments. The proposed system consists of two phases: multi-view…
A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
Factor graphs have recently emerged as an alternative solution method for GNSS positioning. In this article, we review how factor graphs are implemented in GNSS, some of their advantages over Kalman Filters, and their importance in making…
Predicting pedestrian movements remains a complex and persistent challenge in robot navigation research. We must evaluate several factors to achieve accurate predictions, such as pedestrian interactions, the environment, crowd density, and…
Robust and precise localization is essential for the autonomous system with navigation requirements. Light detection and ranging (LiDAR) odometry is extensively studied in the past decades to achieve this goal. Satisfactory accuracy can be…
Pedestrian tracking has long been considered an important problem, especially in security applications. Previously,many approaches have been proposed with various types of sensors. One popular method is Pedestrian Dead Reckoning(PDR) [1]…
This paper considers the attitude determination problem based on the global navigation satellite system (GNSS) and fifth-generation (5G) measurement fusion to address the shortcomings of standalone GNSS and 5G techniques in deep urban…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically-guided re-localisation and cross-view factor graph…
Traditional Simultaneous Localization and Mapping (SLAM) algorithms rely heavily on the static environment assumption, which severely limits their applicability in real-world spaces populated by moving entities, such as pedestrians. In this…