Related papers: GroundGazer: An optical reference system for plana…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…
Indoor localization is a fundamental problem in location-based applications. Current approaches to this problem typically rely on Radio Frequency technology, which requires not only supporting infrastructures but human efforts to measure…
Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
As a novel way of presenting information, augmented reality (AR) enables people to interact with the physical world in a direct and intuitive way. While there are some mobile AR products implemented with specific hardware at a high cost,…
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…
Several studies rely on the de facto standard Adaptive Monte Carlo Localization (AMCL) method to localize a robot in an Occupancy Grid Map (OGM) extracted from a building information model (BIM model). However, most of these studies assume…
There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these different radar perception systems, ground penetrating radar…
In autonomous robotics, measurement of the robot's internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essential. Estimating the pose of the robot arm from a single…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
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…
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR…
In this work we propose an alternative formulation to the problem of ground reflectivity grid based localization involving laser scanned data from multiple LIDARs mounted on autonomous vehicles. The driving idea of our localization…
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.…
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…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…