Related papers: Quantum diamond magnetometry for navigation in GNS…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
Quantum sensing exploits the strong sensitivity of quantum systems to measure small external signals. The nitrogen-vacancy (NV) center in diamond is one of the most promising platforms for real-world quantum sensing applications,…
Current density distributions in active integrated circuits (ICs) result in patterns of magnetic fields that contain structural and functional information about the IC. Magnetic fields pass through standard materials used by the…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Quantum sensing with individual spin defects has emerged as a versatile platform to probe microscopic properties of condensed matter systems. Here we demonstrate that quantum relaxometry with nitrogen-vacancy (NV) centers in diamond can…
In wireless networks, radio-map based locating techniques are commonly used to cope the complex fading feature of radio signal, in which a radio-map is built by calibrating received signal strength (RSS) signatures at training locations in…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…
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,…
We describe here the construction and characterization of a high-resolution optical magnetometer to measure the full vector magnetic field on an ultrathin layer near the surface of the device. This solid-state device is based on quantum…
We put forward the idea of lattice quantum magnetometry, i.e. quantum sensing of magnetic fields by a charged (spinless) particle placed on a finite two-dimensional lattice. In particular, we focus on the detection of a locally static…
Automated driving systems face challenges in GPS-denied situations. To address this issue, kinematic dead reckoning is implemented using measurements from the steering angle, steering rate, yaw rate, and wheel speed sensors onboard the…
Magnetic-anomaly navigation, leveraging small-scale variations in the Earth's magnetic field, is a promising alternative when GPS is unavailable or compromised. Airborne systems face a key challenge in extracting geomagnetic field data: the…
Single-spin quantum sensors, for example based on nitrogen-vacancy centres in diamond, provide nanoscale mapping of magnetic fields. In applications where the magnetic field may be changing rapidly, total sensing time is crucial and must be…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…
Seismic travel time tomography is a geophysical imaging method to infer the 3-D interior structure of the solid Earth. Most commonly formulated as a linear(ized) inverse problem, it maps differences between observed and expected wave travel…
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution.…
Given a sequence of possibly sparse and noisy GPS traces and a map of the road network, map matching algorithms can infer the most accurate trajectory on the road network. However, if the road network is wrong (for example due to missing or…
This paper presents a multi-sensor fusion strategy for a novel road-matching method designed to support real-time navigational features within advanced driving-assistance systems. Managing multihypotheses is a useful strategy for the…