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

Cooperative localization in multi-agent robotic systems is challenging, especially when agents rely on limited information, such as only peer-to-peer range measurements. Two key challenges arise: utilizing this limited information to…

A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional…

Cooperative localization with map matching has been shown to reduce Global Navigation Satellite System (GNSS) localization error from several meters to sub-meter level by fusing the GNSS measurements of four vehicles in our previous work.…

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,…

Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…

Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…

This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

Given the aging infrastructure and the anticipated growing number of highway work zones in the United States, it is important to investigate work zone merge control, which is critical for improving work zone safety and capacity. This paper…

Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) position information of a group of vehicles to improve the standalone localization accuracy. It has been shown, in our previous work, that the GNSS error can…

Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…

Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for…

Accurate positioning is known to be a fundamental requirement for the deployment of Connected Automated Vehicles (CAVs). To meet this need, a new emerging trend is represented by cooperative methods where vehicles fuse information coming…

Sharing information between connected and autonomous vehicles (CAVs) fundamentally improves the performance of collaborative object detection for self-driving. However, CAVs still have uncertainties on object detection due to practical…

Today vehicles are becoming a rich source of data as they are equipped with localization or tracking and with wireless communications technologies. With the increasing interest in automated- or self- driving technologies, vehicles are also…

This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…

Forward Vehicle Collision Warning (FCW) is one of the most important functions for autonomous vehicles. In this procedure, vehicle detection and distance measurement are core components, requiring accurate localization and estimation. In…

This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…

High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…

Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative…