Related papers: Robust, High-Precision GNSS Carrier-Phase Position…
Accurate, continuous, and reliable positioning is a critical component of achieving autonomous driving. However, in complex urban canyon environments, the vulnerability of a stand-alone sensor and non-line-of-sight (NLOS) caused by high…
In this paper, we present a global navigation satellite system (GNSS) aided LiDAR-visual-inertial scheme, RailLoMer-V, for accurate and robust rail vehicle localization and mapping. RailLoMer-V is formulated atop a factor graph and consists…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, and time-varying noise characteristics often lead to…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges regarding robust operation in dark,…
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-efficient 3D distance field representation. The approach…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…
To address the challenge of autonomous UGV localization in GNSS-denied off-road environments,this study proposes a matching-based localization method that leverages BEV perception image and satellite map within a road similarity space to…
The current fusion positioning systems are mainly based on filtering algorithms, such as Kalman filtering or particle filtering. However, the system complexity of practical application scenarios is often very high, such as noise modeling in…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…
Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these aerial systems in non-urban environments, using GNSS-Free,…
In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative…
Precise positioning and navigation information has been increasingly important with the development of the consumer electronics market. Due to some deficits of Global Navigation Satellite System (GNSS), such as susceptible to interferences,…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…
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…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…