Related papers: 3-D Relative Localization for Multi-Robot Systems …
In autonomous robotic systems, precise localization is a prerequisite for safe navigation. However, in complex urban environments, GNSS positioning often suffers from signal occlusion and multipath effects, leading to unreliable absolute…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…
For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…
Visual simultaneous localization and mapping (vSLAM) and 3D reconstruction methods have gone through impressive progress. These methods are very promising for autonomous vehicle and consumer robot applications because they can map…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
An appearance-based robot self-localization problem is considered in the machine learning framework. The appearance space is composed of all possible images, which can be captured by a robot's visual system under all robot localizations.…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Relative localization is crucial for multi-robot systems to perform cooperative tasks, especially in GPS-denied environments. Current techniques for multi-robot relative localization rely on expensive or short-range sensors such as cameras…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…