Related papers: Combining DVL-INS and Laser-Based Loop Closures in…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
Deep Learning (DL) inversion is a promising method for real time interpretation of logging while drilling (LWD) resistivity measurements for well navigation applications. In this context, measurement noise may significantly affect inversion…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Inertial and Doppler velocity log sensors are commonly used to provide the navigation solution for autonomous underwater vehicles (AUV). To this end, a nonlinear filter is adopted for the fusion task. The filter's process noise covariance…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…
Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…
Autonomous underwater vehicles are specialized platforms engineered for deep underwater operations. Critical to their functionality is autonomous navigation, typically relying on an inertial navigation system and a Doppler velocity log. In…
Misalignment angle will result in a considerable error for the integration of Doppler Velocity Log (DVL) and of Strapdown Inertial Navigation System (SINS). In this paper, a robust initial alignment method for SINS/DVL is proposed to solve…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Autonomous underwater vehicles rely on precise navigation systems that combine the inertial navigation system and the Doppler velocity log for successful missions in challenging environments where satellite navigation is unavailable. The…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
Navigation is a critical aspect of autonomous underwater vehicles (AUVs) operating in complex underwater environments. Since global navigation satellite system (GNSS) signals are unavailable underwater, navigation relies on inertial…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
One of the primary means of sea exploration is autonomous underwater vehicles (AUVs). To perform these tasks, AUVs must navigate the rough challenging sea environment. AUVs usually employ an inertial navigation system (INS), aided by a…
We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…
Secure navigation is pivotal for several applications including autonomous vehicles, robotics, and aviation. The inertial navigation system estimates position, velocity, and attitude through dead reckoning especially when external…