Related papers: LIDAR-based Stabilization, Navigation and Localiza…
Reliable deployment of Unmanned Aerial Vehicles (UAVs) in cluttered unknown environments requires accurate sensors for Global Navigation Satellite System (GNSS)-denied localization and obstacle avoidance. Such a requirement limits the usage…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
Estimating the pose of an unmanned aerial vehicle (UAV) or drone is a challenging task. It is useful for many applications such as navigation, surveillance, tracking objects on the ground, and 3D reconstruction. In this work, we present a…
Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…
Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
LiDARs plays an important role in self-driving cars and its configuration such as the location placement for each LiDAR can influence object detection performance. This paper aims to investigate an optimal configuration that maximizes the…
The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing navigation safety and computation efficiency. Yet the…
Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…
In this work we propose an alternative formulation to the problem of ground reflectivity grid based localization involving laser scanned data from multiple LIDARs mounted on autonomous vehicles. The driving idea of our localization…
Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by…
Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation. Our system uses a modular approach, consisting of a pose estimation module and a gesture classifier. Pose estimates are…
Localization plays a key role for safe operation of UAVs enabling beyond visual line of sight applications. Compared to GPS based localization, cellular networks can reduce the positioning error and cost since cellular connectivity is…
Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…