相关论文: A moving fixed-interval filter/smoother for estima…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
Visual position recognition affects the safety and accuracy of automatic driving. To accurately identify the location, this paper studies a visual place recognition algorithm based on HMM filter and HMM smoother. Firstly, we constructed the…
Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing the accuracy of localization with computational efficiency…
The Kalman filter computes the optimal variable-gain using prior knowledge of the initial state and random (process and measurement) noise distributions, which are assumed to be Gaussian with known variance. However, when these…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to design an estimator with a desired estimation performance. In…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…