Related papers: GNSS/Multi-Sensor Fusion Using Continuous-Time Fac…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT is the Global Navigation Satellite System (GNSS) which…
Reliable positioning in dense urban environments remains challenging due to frequent GNSS signal blockage, multipath, and rapidly varying satellite geometry. While factor graph optimization (FGO)-based GNSS-IMU fusion has demonstrated…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…
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…
Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…
Accurate and smooth global navigation satellite system (GNSS) positioning for pedestrians in urban canyons is still a challenge due to the multipath effects and the non-light-of-sight (NLOS) receptions caused by the reflections from…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
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,…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Enabling autonomous operation of large-scale construction machines, such as excavators, can bring key benefits for human safety and operational opportunities for applications in dangerous and hazardous environments. To facilitate robot…
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,…
This paper presents a sensor fusion based Global Navigation Satellite System (GNSS) spoofing attack detection framework for autonomous vehicles (AV) that consists of two concurrent strategies: (i) detection of vehicle state using predicted…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…