Related papers: Robust simultaneous UWB-anchor calibration and rob…
Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
Many applications have been identified which require the deployment of large-scale low-power wireless sensor networks. Some of the deployment environments, however, impose harsh operation conditions due to intense cross-technology…
We develop and commercialize autonomous machines, such as logistic robots and self-driving cars, around the globe. A critical challenge to our -- and any -- autonomous machine is accurate and efficient localization under resource…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
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…
This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate…
Indoor positioning systems based on Ultra-wideband (UWB) technology are gaining recognition for their ability to provide cm-level localization accuracy. However, these systems often encounter challenges caused by dense multi-path fading,…
In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO methods suffer from localization drift over long trajectories. In this paper, we propose a First-Estimates Jacobian…
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between robots and visual detection renders existing methods highly…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…
Recently, commercial ultra-wideband (UWB) transceivers have enabled not only measuring device-to-device distance but also tracking the position of a pedestrian who does not carry a UWB device. UWB-based device-free localization that does…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…