Related papers: BA-LINS: A Frame-to-Frame Bundle Adjustment for Li…
This paper introduces BIMCaP, a novel method to integrate mobile 3D sparse LiDAR data and camera measurements with pre-existing building information models (BIMs), enhancing fast and accurate indoor mapping with affordable sensors. BIMCaP…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…
High-frequency bands such as millimeter-wave and terahertz require narrow beams due to path loss and shadowing. Beam alignment (BA) methods allow the transceivers to adjust the directions of these beams efficiently by exploiting the channel…
The pose adjustment (PA) with a pose-only visual representation has been proven equivalent to the bundle adjustment (BA), while significantly improving the computational efficiency. However, the pose-only solution has not yet been properly…
The initial alignment provides an accurate attitude for SINS (strapdown inertial navigation system). By further estimating the IMU's bias and misalignment angle, the recursive Bayesian filter is accurate. However, the prior heading error…
Efficient beam alignment is fundamental to high-throughput and reliable connectivity in Vehicle-to-Everything (V2X) systems. However, conventional beam management in dynamic vehicular topologies incurs prohibitive alignment overhead and…
Active Alignment (AA) is a key technology for the large-scale automated assembly of high-precision optical systems. Compared with labor-intensive per-model on-device calibration, a digital-twin pipeline built on optical simulation offers a…
4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditions. Although recent radar and radar--inertial odometry…
In this paper, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camera. In contrast to uniform B-spline-based continuous-time…
LiDAR sensors can provide dependable 3D spatial information at a low frequency (around 10Hz) and have been widely applied in the field of autonomous driving and UAV. However, the camera with a higher frequency (around 20Hz) has to be…
Unmanned aerial vehicles (UAVs) with flexible deployment contribute to enlarging the distance of information transmission to mobile users (MUs) in constrained environment. However, due to the high mobility of both UAVs and MUs, it is…
Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data collection in controlled environments and cannot compensate…
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…
This paper examines covariate effects on fused whole body biometrics performance in the IARPA BRIAR dataset, specifically focusing on UAV platforms, elevated positions, and distances up to 1000 meters. The dataset includes outdoor videos…
Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…
With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…
Multi-camera SLAM systems offer a plethora of advantages, primarily stemming from their capacity to amalgamate information from a broader field of view, thereby resulting in heightened robustness and improved localization accuracy. In this…