相关论文: Minimal Solvers for Indoor UAV Positioning

Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…

Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visual Simultaneous…

Indoor navigation is challenging due to the absence of satellite positioning. This challenge is manifold greater for Visually Impaired People (VIPs) who lack the ability to get information from wayfinding signage. Other sensor signals…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…

Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…

Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…

Unmanned aerial vehicles (UAVs) can be used as aerial wireless base stations when cellular networks are not operational due to natural disasters. They can also be used to supplement the ground base station in order to provide better…

In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are…

Localization without Global Navigation Satellite Systems (GNSS) is a critical functionality in autonomous operations of unmanned aerial vehicles (UAVs). Vision-based localization on a known map can be an effective solution, but it is…

We consider unmanned aerial vehicle (UAV)-assisted wireless communication employing UAVs as relay nodes to increase the throughput between a pair of transmitter and receiver. We focus on developing effective methods to position the UAV(s)…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…

We propose and demonstrate a fast, robust method for using satellite images to localize an Unmanned Aerial Vehicle (UAV). Previous work using satellite images has large storage and computation costs and is unable to run in real time. In…

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…

Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved ambiguous inverse problems in various fields. This paper…

Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…