Related papers: Time-Relative RTK-GNSS: GNSS Loop Closure in Pose …
GNSS observations are carried out in static mode/ Differential global navigation satellite system (DGNSS) and dynamic mode / Real time Kinematics (RTK) mainly. RTK mode of observation is useful in case of navigation whereas in order to…
Estimation techniques to precisely localize a kinematic platform with GNSS observables can be broadly partitioned into two categories: differential, or undifferenced. The differential techniques (e.g., real-time kinematic (RTK)) have…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…
This paper proposes an improved global navigation satellite system (GNSS) positioning method that explores the time correlation between consecutive epochs of the code and carrier phase measurements which significantly increases the…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
This paper presents an outdoor tracking system using Real-Time Kinematic (RTK) positioning and Optical See-Through Head Mounted Display(s) (OST-HMD(s)) in urban areas where the accurate tracking of objects is critical and where displaying…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
The most commonly used method for addressing 3D geometric registration is the iterative closet-point algorithm, this approach is incremental and prone to drift over multiple consecutive frames. The Common strategy to address the drift is…
The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…
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…
Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…
Currently, digital maps are indispensable for automated driving. However, due to the low precision and reliability of GNSS particularly in urban areas, fusing trajectories of independent recording sessions and different regions is a…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…
Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…
Labor shortage due to the declining birth rate has become a serious problem in the construction industry, and automation of construction work is attracting attention as a solution to this problem. This paper proposes a method to realize…
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…
Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…
The current best practice for computing optimal transport (OT) is via entropy regularization and Sinkhorn iterations. This algorithm runs in quadratic time as it requires the full pairwise cost matrix, which is prohibitively expensive for…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…