相关论文: Accurate Global Trajectory Alignment using Poles a…
Recent advances in satellite and communication technologies have significantly improved geographical information and monitoring systems. Global System for Mobile Communications (GSM) and Global Navigation Satellite System (GNSS)…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
Accurate localization is crucial for various applications, including autonomous vehicles and next-generation wireless networks. However, the reliability and precision of Global Navigation Satellite Systems (GNSS), such as the Global…
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…
Cross-view matching refers to the problem of finding the closest match for a given query ground view image to one from a database of aerial images. If the aerial images are geotagged, then the closest matching aerial image can be used to…
Annotating automotive radar data is a difficult task. This article presents an automated way of acquiring data labels which uses a highly accurate and portable global navigation satellite system (GNSS). The proposed system is discussed…
GPS trajectories are the essential foundations for many trajectory-based applications, such as travel time estimation, traffic prediction and trajectory similarity measurement. Most applications require a large amount of high sample rate…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
In the era of the proliferation of Geo-Spatial Data, induced by the diffusion of GPS devices, the map matching problem still represents an important and valuable challenge. The process of associating a segment of the underlying road network…
We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…
Aerial image registration or matching is a geometric process of aligning two aerial images captured in different environments. Estimating the precise transformation parameters is hindered by various environments such as time, weather, and…
While both outdoor and indoor localization methods are flourishing, how to properly marry them to offer pervasive localizability in urban areas remains open. Recently proposals on indoor-outdoor detection make the first step towards such an…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
GNSS localization using everyday mobile devices is challenging in urban environments, as ranging errors caused by the complex propagation of satellite signals and low-quality onboard GNSS hardware are blamed for undermining positioning…
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
In this article we model a Global Navigation Satellite System (GNSS) in a Schwarzschild space-time, as a first approximation of the relativistic geometry around the Earth. The closed time-like and scattering light-like geodesics are…
Robots benefit from high-fidelity reconstructions of their environment, which should be geometrically accurate and photorealistic to support downstream tasks. While this can be achieved by building distance fields from range sensors and…