Related papers: MINS: Efficient and Robust Multisensor-aided Inert…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
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…
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration of the time offset between these two sensor types is a…
The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras,…
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…
3D multi-object tracking (MOT) is essential for an autonomous mobile agent to safely navigate a scene. In order to maximize the perception capabilities of the autonomous agent, we aim to develop a 3D MOT framework that fuses camera and…
Maritime surveillance (MS) is of paramount importance for search and rescue operations, fishery monitoring, pollution control, law enforcement, migration monitoring, and national security policies. Since ground-based radars and automatic…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including…
Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and…
The goal of extrinsic calibration is the alignment of sensor data to ensure an accurate representation of the surroundings and enable sensor fusion applications. From a safety perspective, sensor calibration is a key enabler of autonomous…
Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…
We present visual inertial lidar legged navigation system (VILENS), an odometry system for legged robots based on factor graphs. The key novelty is the tight fusion of four different sensor modalities to achieve reliable operation when the…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…