相关论文: On Inertial Navigation and Attitude Initialization…

This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

We present an approach for optical navigation in unstructured, dynamic railroad environments. We propose a way how to cope with the estimation of the train motion from sole observations of the planar track bed. The occasional significant…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…

Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…

Current GNSS systems rely on global reference frames which are fixed to the Earth (via the ground stations) so their precision and stability in time are limited by our knowledge of the Earth dynamics. These drawbacks could be avoided by…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

The strongly interacting system created in ultrarelativistic nuclear collisions behaves almost as an ideal fluid with rich patterns of the velocity field exhibiting strong vortical structure. Vorticity of the fluid, via spin-orbit coupling,…

Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…

Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…

Autonomous robotics is critically affected by the robustness of its scene understanding algorithms. We propose a two-axis pipeline based on polarization indices to analyze dynamic urban scenes. As robots evolve in unknown environments, they…

Nearly all spatial reasoning problems involve uncertainty of one sort or another. Uncertainty arises due to the inaccuracies of sensors used in measuring distances and angles. We refer to this as directional uncertainty. Uncertainty also…

Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…

Current methods for Earth observation tasks such as semantic mapping, map alignment, and change detection rely on near-nadir images; however, often the first available images in response to dynamic world events such as natural disasters are…

Respecting the geometry of the underlying system and exploiting its symmetry have been driving concepts in deriving modern geometric filters for inertial navigation systems (INSs). Despite their success, the explicit treatment of inertial…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…

We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…