相关论文: Efficient Global Indoor Localization for Micro Aer…

In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…

Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these aerial systems in non-urban environments, using GNSS-Free,…

Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…

General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…

Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…

Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…

The advances in compact and agile micro aerial vehicles (MAVs) have shown great potential in replacing human for labor-intensive or dangerous indoor investigation, such as warehouse management and fire rescue. However, the design of a state…

Localization is one of the most important technologies needed to use Unmanned Aerial Vehicles (UAVs) in actual fields. Currently, most UAVs use GNSS to estimate their position. Recently, there have been attacks that target the weaknesses of…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…

Many scenarios require a robot to be able to explore its 3D environment online without human supervision. This is especially relevant for inspection tasks and search and rescue missions. To solve this high-dimensional path planning problem,…

Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…

In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…

This paper presents an experimental measurement platform for the research and development of unmanned aerial vehicles (UAVs) localization algorithms using radio emission and reflectivity. We propose a cost-effective, flexible testbed made…

Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…

Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…