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For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
Recent advances in differentiable rendering, which allow calculating the gradients of 2D pixel values with respect to 3D object models, can be applied to estimation of the model parameters by gradient-based optimization with only 2D…
Benthic habitat mapping is fundamental for understanding marine ecosystems, guiding conservation efforts, and supporting sustainable resource management. Yet, the scarcity of large, annotated datasets limits the development and benchmarking…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…
For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete and accurate terrain models and…
Accurate post-processing navigation is essential for applications such as survey and mapping, where the full measurement history can be exploited to refine past state estimates. Fixed-interval smoothing algorithms represent the…
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…
Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
Filtering and smoothing algorithms for linear discrete-time state-space models with skew-t-distributed measurement noise are proposed. The algorithms use a variational Bayes based posterior approximation with coupled location and skewness…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
This paper introduces score-based sequential Langevin sampling (SSLS), a novel approach to nonlinear data assimilation within a recursive Bayesian filtering framework. The proposed method decomposes the assimilation process into alternating…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
Surface-based data is commonly observed in diverse practical applications spanning various fields. In this paper, we introduce a novel nonparametric method to discover the underlying signals from data distributed on complex surface-based…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…
This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…
The work analyzes existing methods for increasing the accuracy of determining weekend navigation parameters of unmanned underwater vehicles. It is proposed to retrofit the navigation system with an additional hydrodynamic tilt unit, which…
Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor…
This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft…