Related papers: FGO-ILNS: Tightly Coupled Multi-Sensor Integrated …
Learning to simulate complex physical systems from data has emerged as a promising way to overcome the limitations of traditional numerical solvers, which often require prohibitive computational costs for high-fidelity solutions. Recent…
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…
Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robust and accurate state estimation. Our proposed framework is…
Floating Car Observers (FCOs) extend traditional Floating Car Data (FCD) by integrating onboard sensors to detect and localize other traffic participants, providing richer and more detailed traffic data. In this work, we explore various…
Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile under signal blockage, multipath, and drift. This paper…
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…
Software fault localization remains challenging due to limited feature diversity and low precision in traditional methods. This paper proposes a novel approach that integrates multi-objective optimization with deep learning models to…
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…
Index modulation (IM) significantly enhances the spectral efficiency of fluid antennas (FAs) enabled multiple-input multiple-output (MIMO) systems, which is named FA-IM. However, due to the dense distribution of ports on the FA, the…
In the era of Industry 4.0, precise indoor localization is vital for automation and efficiency in smart factories. Reconfigurable Intelligent Surfaces (RIS) are emerging as key enablers in 6G networks for joint sensing and communication.…
Visible Light Positioning (VLP) has emerged as a promising technology capable of delivering indoor localization with high accuracy. In VLP systems that use Photodiodes (PDs) as light receivers, the Received Signal Strength (RSS) is affected…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging problem because GNSS and other positioning sensors are prone…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…
Profiling is important for performance optimization by providing real-time observations and measurements of important parameters of hardware execution. Existing profiling tools for High-Level Synthesis (HLS) IPs running on FPGAs are far…
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…
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions, degrade inertial observability and cause frequent tracking…
Robust navigation in diverse environments and domains requires both accurate state estimation and transparent decision making. We present PhysNav-DG, a novel framework that integrates classical sensor fusion with the semantic power of…