相关论文: Viconmavlink: A software tool for indoor positioni…
Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such…
Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments. The additional fact that MAVs are not able to carry heavy weight or power…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…
Handheld devices have opened up unprecedented opportunities to collect large-scale, high-quality demonstrations efficiently. However, existing systems often lack robust tactile sensing or reliable pose tracking to handle complex interaction…
The MAVLink is a lightweight communication protocol between Unmanned Aerial Vehicles (UAVs) and ground control stations (GCSs). It defines a set of bi-directional messages exchanged between a UAV (aka drone) and a ground station. The…
This paper presents a novel indoor visible light positioning (VLP) system utilising one vertical-cavity surface-emitting laser installed at the ceiling centre of a space. The system offers three-dimensional localisation by sweeping through…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
Visible Light Communication~(VLC) systems provide not only illumination and data communication, but also indoor monitoring services if the effect that different events create on the received optical signal is properly tracked. For this…
Intraoperative ultrasound facilitates localisation of tumour boundaries during minimally invasive procedures. Autonomous ultrasound scanning systems have been recently proposed to improve scanning accuracy and reduce surgeons' cognitive…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…
Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are environment- and task-specific: while they exhibit strong performance in structured environments (predominantly urban driving),…
Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything…
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…
To represent motions from a mechanical point of view, this paper explores motion embedding using the motion taxonomy. With this taxonomy, manipulations can be described and represented as binary strings called motion codes. Motion codes…
Displacement is an important measurement for the assessment of structural conditions, but its field measurement is often hindered by difficulties associated with sensor installation and measurement accuracy. To overcome the disadvantages of…
Humans and robots working together in an environment to enhance human performance is the aim of Industry 5.0. Although significant progress in outdoor positioning has been seen, indoor positioning remains a challenge. In this paper, we…
Motion in-betweening is a crucial tool for animators, enabling intricate control over pose-level details in each keyframe. Recent machine learning solutions for motion in-betweening rely on complex models, incorporating skeleton-aware…
Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the…