Related papers: Laser Ranging Based Intelligent System for Unknown…
Exploiting wavefront curvature enables localization with limited infrastructure and hardware complexity. With the introduction of reconfigurable intelligent surfaces (RISs), new opportunities arise, in particular when the RIS is functioning…
By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the…
Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…
Visible Light Positioning (VLP) has emerged as a promising technology capable of delivering indoor localization with high accuracy. In VLP systems that use Photodiodes (PDs) as light receivers, the Received Signal Strength (RSS) is affected…
Localization using multiple base stations (BSs) has gained much attention for its advantage in localization accuracy. However, the performance of the multi-BS system suffers from its limited number of antennas. To solve the above issue, we…
Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved ambiguous inverse problems in various fields. This paper…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
Long-term scene changes present challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that can provide robust localization against those challenges. Our method starts with activation of a mapping…
With the development of intelligent vehicle systems, a high-precision road map is increasingly needed in many aspects. The automatic lane lines extraction and modeling are the most essential steps for the generation of a precise lane-level…
In this paper, an indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and robotic users. Both single-user and multiple-user…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
2D LiDAR SLAM (Simultaneous Localization and Mapping) is widely used in indoor environments due to its stability and flexibility. However, its mapping procedure is usually operated by a joystick in static environments, while indoor…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
5G radio at millimeter wave (mmWave) and beyond 5G concepts at 0.1-1 THz can exploit angle and delay measurements for localization, by the virtue of increased bandwidth and large antenna arrays but are limited in terms of blockage caused by…
We present an automated approach for identifying magnetospheric regions using supervised machine learning techniques applied to Magnetospheric MultiScale mission data. Our method utilizes ion energy spectra, total magnetic field, total ion…
Reconfigurable intelligent surface (RIS) is a type of wireless communication technology that uses a reconfigurable surface, such as a wall or building that is able to adjust its properties by an integrated optimization algorithm in order to…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Navigating indoor environments presents significant challenges for visually impaired individuals due to complex layouts and the absence of GPS signals. This paper introduces a novel system that provides turn-by-turn navigation inside…