相关论文: Range-only Collaborative Localization for Ground V…

Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…

This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…

Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sensor network localization. However, the localization quality…

A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However,…

While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In this paper, we propose a learning-based framework named ULOC…

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…

Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…

This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…

Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…

Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…

Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…

Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…

Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…