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The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent localization framework using a factor-graph representation…
Unmanned aerial vehicles (UAV) showed great potential in improving the efficiency of parcel delivery applications in the coming smart cities era. Unfortunately, the trustworthy positioning and control algorithms of the UAV are significantly…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial organizations such as Google and Uber stepping into the…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…
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…
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…
The execution of flight missions by unmanned aerial vehicles (UAV) primarily relies on navigation. In particular, the navigation pipeline has traditionally been divided into positioning and control, operating in a sequential loop. However,…
Recently, there has been significant interest in the ability to navigate without GPS using the magnetic anomaly field of the Earth (magnav). One of the key technical bottlenecks to achieving magnav is obtaining an accurate magnetic sensor…
The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection and…