Related papers: Reflection-Based Relative Localization for Coopera…
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…
Providing a stable connectivity in maritime communications is of utmost importance to unleash the full potential of smart ports. Nonetheless, due to the crowded nature of harbor environments, it is likely that some ships are shadowed by…
Unmanned Aerial Vehicles (UAV) have been standing out due to the wide range of applications in which they can be used autonomously. However, they need intelligent systems capable of providing a greater understanding of what they perceive to…
Mutual relative localization and identification is an important feature for the stabilization and navigation of multi-Unmanned Aerial Vehicle (UAV) systems. Camera-based communications technology, also referred to as Optical Camera…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
Environment maps are used to simulate reflections off curved objects. We present a technique to reflect a user, or a group of users, in a real environment, onto a virtual object, in a virtual reality application, using the live video feeds…
Accurate localization is fundamental for autonomous underwater vehicles (AUVs) to carry out precise tasks, such as manipulation and construction. Vision-based solutions using fiducial marker are promising, but extremely challenging…
Visual Place Recognition (VPR) systems often have imperfect performance, affecting the `integrity' of position estimates and subsequent robot navigation decisions. Previously, SVM classifiers have been used to monitor VPR integrity. This…
We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…
We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Multi-point vehicular positioning is one essential operation for autonomous vehicles. However, the state-of-the-art positioning technologies, relying on reflected signals from a target (i.e., RADAR and LIDAR), cannot work without…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
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…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…