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Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
This paper presents a new approach for integrating semantic information for vision-based vehicle navigation. Although vision-based vehicle navigation systems using pre-mapped visual landmarks are capable of achieving submeter level accuracy…
In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In this paper, a robust vehicle local position estimation with the help of single camera sensor and GPS is presented. A modified Inverse Perspective Mapping, illuminant Invariant techniques and object detection based approach is used to…
We address optimal placement of vehicles with simple motion to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the…
The application of radio-based positioning systems is ever increasing. In light of the dissemination of the Internet of Things and location-aware communication systems, the demands on localization architectures and amount of possible use…
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…
We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…
Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…