相关论文: Underwater Doppler Navigation with Self-calibratio…

We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform…

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigation estimate is aided by a Doppler velocity log (DVL), depth…

Accurate spatiotemporal calibration is a prerequisite for multisensor fusion. However, sensors are typically asynchronous, and there is no overlap between the fields of view of cameras and LiDARs, posing challenges for intrinsic and…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…

Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…

Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose a reliable technique for the extrinsic calibration of…

Global Navigation Satellite Systems (GNSS) underpin positioning, navigation, and timing (PNT), yet their low-power signals are easily blocked or disrupted, leaving gaps in PNT availability in contested environments (e.g. maritime settings)…

The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation, the interaction…

Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…

We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…

Reliable anomaly detection is essential for ensuring the safety of autonomous robots, particularly when conventional detection systems based on vision or LiDAR become unreliable in adverse or unpredictable conditions. In such scenarios,…

Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…

This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…

Misalignment angle will result in a considerable error for the integration of Doppler Velocity Log (DVL) and of Strapdown Inertial Navigation System (SINS). In this paper, a robust initial alignment method for SINS/DVL is proposed to solve…

Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with self-calibration have been presented. However, it has been…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

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…