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We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…
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…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…
Ground Penetrating Radar (GPR) is a very useful non-destructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
Deployment of automated ground vehicles beyond the confines of sunny and dry climes will require sub-lane-level positioning techniques based on radio waves rather than near-visible-light radiation. Like human sight, lidar and cameras…
A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…
Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…
We extend our work on a novel indoor positioning system (IPS) for autonomous mobile robots (AMRs) based on radar sensing of local, passive radar reflectors. Through the combination of simple reflectors and a single-channel frequency…
In a robotised warehouse, as in any place where robots move autonomously, a major issue is the localization or detection of human operators during their intervention in the work area of the robots. This paper introduces a wearable human…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Accurate localization is fundamental to a variety of applications, such as navigation, robotics, autonomous driving, and Augmented Reality (AR). Different from incremental localization, global localization has no drift caused by error…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…