Related papers: Offline Map Matching Based on Localization Error D…
Given an unlabeled road map, we consider, from an algorithmic perspective, the cartographic problem to place non-overlapping road labels embedded in their roads. We first decompose the road network into logically coherent road sections,…
With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…
Deep learning has been extended to a number of new domains with critical success, though some traditional orienteering problems such as the Travelling Salesman Problem (TSP) and its variants are not commonly solved using such techniques.…
Autonomous technology, which has become widespread today, appears in many different configurations such as mobile robots, manipulators, and drones. One of the most important tasks of these vehicles during autonomous operations is path…
In simultaneous localization and mapping, active loop closing (ALC) is an active vision problem that aims to visually guide a robot to maximize the chances of revisiting previously visited points, thereby resetting the drift errors…
Visual degradation caused by rain streak artifacts in low-light conditions significantly hampers the performance of nighttime surveillance and autonomous navigation. Existing image deraining techniques are primarily designed for daytime…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…
Multi-Agent Path Finding (MAPF) is the problem of finding a set of collision-free paths for multiple agents in a shared environment while minimizing the sum of travel time. Since solving the MAPF problem optimally is NP-hard, anytime…
In the Wireless Localization Matching Problem (WLMP) the challenge is to match pieces of equipment with a set of candidate locations based on wireless signal measurements taken by the pieces of equipment. This challenge is complicated by…
The limited or no protection for civilian Global Navigation Satellite System (GNSS) signals makes spoofing attacks relatively easy. With modern mobile devices often featuring network interfaces, state-of-the-art signals of opportunity (SOP)…
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
Matching landmark patches from a real-time image captured by an on-vehicle camera with landmark patches in an image database plays an important role in various computer perception tasks for autonomous driving. Current methods focus on local…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
In this paper, we consider the Online Traveling Salesperson Problem (OLTSP) where the locations of the requests are known in advance, but not their arrival times. We study both the open variant, in which the algorithm is not required to…
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.…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…
Autonomous Driving is now the promising future of transportation. As one basis for autonomous driving, High Definition Map (HD map) provides high-precision descriptions of the environment, therefore it enables more accurate perception and…
Carpooling, or sharing a ride with other passengers, holds immense potential for urban transportation. Ridesharing platforms enable such sharing of rides using real-time data. Finding ride matches in real-time at urban scale is a difficult…