Related papers: Local Observability of VINS and LINS
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
In this note, we propose a novel approach for a class of autonomous dynamical systems that allows, given some observations of the solutions, to identify its parameters and reconstruct the state vector. This approach relies on proving the…
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively.…
We investigate the gravitational lensing signatures of vorton configurations, considering the circular vorton, the Kibble-Turok vorton, and a newly proposed class that incorporates simultaneous excitations of the first, second, and third…
From general relativity we have learned the principles of general covariance and local Lorentz invariance, which follow from the fact that we consider observables as tensors on a spacetime manifold whose geometry is modeled by a Lorentzian…
In recent years, autonomous robots have become ubiquitous in research and daily life. Among many factors, public datasets play an important role in the progress of this field, as they waive the tall order of initial investment in hardware…
Visual-Inertial Odometry (VIO) usually suffers from drifting over long-time runs, the accuracy is easily affected by dynamic objects. We propose DynaVIG, a navigation and object tracking system based on the integration of Monocular Vision,…
Despite extensive research in robust visual-inertial navigation systems~(VINS) in dynamic environments, many approaches remain vulnerable to objects that suddenly start moving, which are referred to as \textit{abruptly dynamic objects}. In…
We study the local behavior of gravitational lensing near fold catastrophes. Using a generic form for the lensing map near a fold, we determine the observable properties of the lensed images, focusing on the case when the individual images…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
Advanced LIGO and Advanced Virgo could observe the first lensed gravitational wave sources in the coming years, while the future Einstein Telescope could observe hundreds of lensed events. It is, therefore, crucial to develop methodologies…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI. However, most existing approaches are sensitive to…
It is demonstrated that the 3--vector $\bs{S}$ currently associated to the spin in an inertial frame does not contract, but rather dilates, in the direction of the velocity. The correct vector $\bs{T}$ is individuated. The equation of…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…
We present a novel end-to-end visual odometry architecture with guided feature selection based on deep convolutional recurrent neural networks. Different from current monocular visual odometry methods, our approach is established on the…
Vision-and-language navigation (VLN), a frontier study aiming to pave the way for general-purpose robots, has been a hot topic in the computer vision and natural language processing community. The VLN task requires an agent to navigate to a…
Electric drives control without shaft sensors has been an active research topic for almost three decades. It consists of estimating the rotor speed and/or position from the currents and voltages measurement. This paper deals with the…
This paper considers the problem of tracking a point of interest (POI) moving along a known trajectory on the ground with an uncrewed aerial vehicle (UAV) modeled as a Dubins vehicle using a line-of-sight (LOS) sensor through an urban…
Physics-informed neural networks (PINNs) employed in fluid mechanics deal primarily with stationary boundaries. This hinders the capability to address a wide range of flow problems involving moving bodies. To this end, we propose a novel…