相关论文: Autonomous Navigation by Robust Scan Matching Tech…

Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…

Continuously optimizing sensor placement is essential for precise target localization in various military and civilian applications. While information theory has shown promise in optimizing sensor placement, many studies oversimplify sensor…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial…

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…

Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…

In self-driving, standalone GPS is generally considered to have insufficient positioning accuracy to stay in lane. Instead, many turn to LIDAR localization, but this comes at the expense of building LIDAR maps that can be costly to…

We present a new online approach to track human whole-body motion from motion capture data, i.e., positions of labeled markers attached to the human body. Tracking in noisy data can be effectively performed with the aid of well-established…

Visual Teach and Repeat has shown relative navigation is a robust and efficient solution for autonomous vision-based path following in difficult environments. Adding additional absolute sensors such as Global Navigation Satellite Systems…

Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…

This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…

In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…

This study presents an autonomous orbit determination system based on crosslink radiometric measurements applied to a future lunar CubeSat mission to clearly highlight its advantages with respect to existing ground-based navigation…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

The ability for an autonomous agent to self-localise is directly proportional to the accuracy and precision with which it can perceive salient features within its local environment. The identification of such features by recognising…

For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…

Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…

Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…