相关论文: Range-only Collaborative Localization for Ground V…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a {\em Gibbs Random Field} (GRF), taking advantage of this framework's…
Perception is one of the crucial module of the autonomous driving system, which has made great progress recently. However, limited ability of individual vehicles results in the bottleneck of improvement of the perception performance. To…
With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have…
The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas…
Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has…
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…
For autonomous ground vehicles (AGVs) deployed in suburban neighborhoods and other human-centric environments the problem of localization remains a fundamental challenge. There are well established methods for localization with GPS, lidar,…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
This paper addresses high-resolution vehicle positioning and tracking. In recent work, it was shown that a fleet of independent but neighboring vehicles can cooperate for the task of localization by capitalizing on the existence of common…
Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…
We propose a global constructibility analysis for a vehicle moving on a planar surface. Assuming that the vehicle follows a trajectory that can be uniquely identified by the sequence of control inputs and by some intermittent ranging…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…