Related papers: High-Precision Climbing Robot Localization Using P…
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…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
This paper investigates the design of channel estimation and 3D localization algorithms in a challenging scenario, where a sub-connected planar extremely large-scale multiple-input multiple-output (XL-MIMO) communicates with multi-antenna…
The contribution describes a pedestrian navigation approach designed to improve localization accuracy in urban environments where GNSS performance is degraded, a problem that is especially critical for blind or low-vision users who depend…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
The fusion of sensor data is essential for a robust perception of the environment in autonomous driving. Learning-based fusion approaches mainly use feature-level fusion to achieve high performance, but their complexity and hardware…
Indoor localization is critical for IoT applications, yet challenges such as non-Gaussian noise, environmental interference, and measurement outliers hinder the robustness of traditional methods. Existing approaches, including Kalman…
This paper investigates integrated localization and communication in a multi-cell system and proposes a coordinated beamforming algorithm to enhance target localization accuracy while preserving communication performance. Within this…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
Accurate and robust positioning in multipath environments can enable many applications, such as search-and-rescue and asset tracking. For this problem, ultra-wideband (UWB) technology can provide the most accurate range estimates, which are…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
Multi-modal fusion is crucial for Internet of Things (IoT) perception, widely deployed in smart homes, intelligent transport, industrial automation, and healthcare. However, existing systems often face challenges: high model complexity…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
Tracking and measuring targets using a variety of sensors mounted on UAVs is an effective means to quickly and accurately locate the target. This paper proposes a fusion localization method based on ridge estimation, combining the…
Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is precise localization, particularly in LiDAR-based map matching,…
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.…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model…