Related papers: Train Localization During GNSS Outages: A Minimali…
Obstacle detection in railway environments is crucial for ensuring safety. However, very few studies address the problem using a complete, modular, and flexible system that can both detect objects in the scene and estimate their distance…
We consider the problem of identifying a single line outage in a power grid by using data from phasor measurement units (PMUs). When a line outage occurs, the voltage phasor of each bus node changes in response to the change in network…
Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…
Global Navigation Satellite Systems (GNSS)-based positioning plays a crucial role in various applications, including navigation, transportation, logistics, mapping, and emergency services. Traditional GNSS positioning methods are…
Electrical faults may trigger blackouts or wildfires without timely monitoring and control strategy. Traditional solutions for locating faults in distribution systems are not real-time when network observability is low, while novel…
This paper presents a convolutional neural network based foot motion tracking with only six-axis Inertial-Measurement-Unit (IMU) sensor data. The presented approach can adapt to various walking conditions by adopting differential and window…
Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…
Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimation on the extended special Euclidean group. The approach…
We consider the problem of carrier-phase differential GPS positioning for an land vehicle navigation system (LVNS), tightly coupled with an inertial measurement unit (IMU) and a speedometer. The primary focus is to apply Bayesian network to…
Android raw Global Navigation Satellite System (GNSS) measurements are expected to bring smartphones power to take on demanding localization tasks that are traditionally performed by specialized GNSS receivers. The hardware constraints,…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…
Constantly locating moving objects, i.e., geospatial tracking, is essential for autonomous building infrastructure. Accurate and robust geospatial tracking often leverages multimodal sensor fusion algorithms, which require large datasets…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high…
For land use monitoring, the main problems are robust positioning in urban canyons and strong terrain reliefs with the use of GPS system only. Indeed, satellite signal reflection and shielding in urban canyons and strong terrain relief…
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…
GNSS are indispensable for various applications, but they are vulnerable to spoofing attacks. The original receiver autonomous integrity monitoring (RAIM) was not designed for securing GNSS. In this context, RAIM was extended with wireless…