Related papers: GNSS Odometry: Precise Trajectory Estimation Based…
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…
This paper introduces a novel method to estimate distance fields from noisy point clouds using Gaussian Process (GP) regression. Distance fields, or distance functions, gained popularity for applications like point cloud registration,…
To plan a rapid response and minimize operational costs, passive optical network operators require to automatically detect and identify faults that may occur in the optical distribution network. In this work, we present DSP-Enhanced OTDR, a…
This paper presents a real-time, object-independent grasp synthesis method which can be used for closed-loop grasping. Our proposed Generative Grasping Convolutional Neural Network (GG-CNN) predicts the quality and pose of grasps at every…
Pedestrian trajectory prediction is a key technology in autopilot, which remains to be very challenging due to complex interactions between pedestrians. However, previous works based on dense undirected interaction suffer from modeling…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Tracking the 6DoF pose of unknown objects in monocular RGB video sequences is crucial for robotic manipulation. However, existing approaches typically rely on accurate depth information, which is non-trivial to obtain in real-world…
We present a consensus-based distributed pose graph optimization algorithm for obtaining an estimate of the 3D translation and rotation of each pose in a pose graph, given noisy relative measurements between poses. The algorithm, called…
Network-based Global Navigation Satellite Systems (GNSS) underpin critical infrastructure and autonomous systems, yet typically rely on centralized processing hubs that limit scalability, resilience, and latency. Here we report a…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
State estimation methods using factor graph optimization (FGO) have garnered significant attention in global navigation satellite system (GNSS) research. FGO exhibits superior estimation accuracy compared with traditional state estimation…
Developing an effective evaluation metric is crucial for accurately and swiftly measuring LiDAR perception performance. One major issue is the lack of metrics that can simultaneously generate fast and accurate evaluations based on either…
Grasp pose detection in cluttered, real-world environments remains a significant challenge due to noisy and incomplete sensory data combined with complex object geometries. This paper introduces Grasp the Graph 2.0 (GtG 2.0) method, a…
3D Gaussian Splatting algorithms excel in novel view rendering applications and have been adapted to extend the capabilities of traditional SLAM systems. However, current Gaussian Splatting SLAM methods, designed mainly for hand-held RGB or…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
Doppler orbitography uses the Doppler shift in a transmitted signal to determine the orbital parameters of satellites including range and range-rate (or radial velocity). We describe two techniques for atmospheric-limited optical Doppler…
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…
The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to…
To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…