Related papers: Real-time loosely coupled GNSS and IMU integration…
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…
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,…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Train localization during Global Navigation Satellite Systems (GNSS) outages presents challenges for ensuring failsafe and accurate positioning in railway networks. This paper proposes a minimalist approach exploiting track geometry and…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile under signal blockage, multipath, and drift. This paper…
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…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…
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…
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,…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…