Related papers: GICI-LIB: A GNSS/INS/Camera Integrated Navigation …
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguity, and degraded performance under challenging visual…
In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
Reliable positioning in GNSS-challenged environments remains a critical challenge for navigation systems. Tightly coupled GNSS/IMU fusion improves robustness but remains vulnerable to non-Gaussian noise and outliers. We present a robust and…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…
The NavINST Laboratory has developed a comprehensive multisensory dataset from various road-test trajectories in urban environments, featuring diverse lighting conditions, including indoor garage scenarios with dense 3D maps. This dataset…
In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves…
Sensor fusion is vital for the safe and robust operation of autonomous vehicles. Accurate extrinsic sensor to sensor calibration is necessary to accurately fuse multiple sensor's data in a common spatial reference frame. In this paper, we…
This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…