Related papers: All-UWB SLAM Using UWB Radar and UWB AOA
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state…
Localization systems based on ultra-wide band (UWB) measurements can have unsatisfactory performance in harsh environments due to the presence of non-line-of-sight (NLOS) errors. Learning-based methods for error mitigation have shown great…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
Ultra-wideband (UWB) technology is a mature technology that contested other wireless technologies in the advent of the IoT but did not achieve the same levels of widespread adoption. In recent years, however, with its potential as a…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
This paper presents a novel approach that integrates 5G Time of Arrival (ToA) measurements into ORB-SLAM3 to enable global localization and enhance mapping capabilities for indoor drone navigation. We extend ORB-SLAM3's optimization…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…
Anomaly detection aims to recognize samples with anomalous and unusual patterns with respect to a set of normal data. This is significant for numerous domain applications, such as industrial inspection, medical imaging, and security…
In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both the UWB radio positions and the obstacle-induced…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
With the rising prominence of WiFi in common spaces, efforts have been made in the robotics community to take advantage of this fact by incorporating WiFi signal measurements in indoor SLAM (Simultaneous Localization and Mapping) systems.…
Tracking and modeling unknown rigid objects in the environment play a crucial role in autonomous unmanned systems and virtual-real interactive applications. However, many existing Simultaneous Localization, Mapping and Moving Object…