Related papers: Scalable Aerial GNSS Localization for Marine Robot…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…
The speed of response by search and rescue teams at sea is of vital importance, as survival may depend on it. Recent technological advancements have led to the development of more efficient systems for locating individuals involved in a…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
To improve the localization precision of unmanned aerial vehicle (UAV), a novel framework is established by jointly utilizing multiple measurements of received signal strength (RSS) from multiple base stations (BSs) and multiple points on…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…
Global Navigation Satellite System (GNSS) receivers provide ubiquitous and precise position, navigation, and time (PNT) to a wide gamut of civilian and tactical infrastructures and devices. Due to the low GNSS received signal power, even…
UAV Geo-Localization faces significant challenges due to the drastic appearance discrepancy between dronecaptured images and satellite views. Existing methods typically assume a consistent scaling factor across views and rely on predefined…
Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Localization accuracy is of paramount importance for the proper operation of underwater optical wireless sensor networks (UOWSNs). However, underwater localization is prone to hostile environmental impediments such as drifts due to the…
Nearshore bathymetry, the topography of the ocean floor in coastal zones, is vital for predicting the surf zone hydrodynamics and for route planning to avoid subsurface features. Hence, it is increasingly important for a wide variety of…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…