相关论文: INS/Odometer Land Navigation by Accurate Measureme…
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…
Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation…
Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…
This study presents an innovative hybrid Visual-Inertial Odometry (VIO) method for Unmanned Aerial Vehicles (UAVs) that is resilient to environmental challenges and capable of dynamically assessing sensor reliability. Built upon a loosely…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…
Inertial Odometry (IO) has gained attention in quadrotor applications due to its sole reliance on inertial measurement units (IMUs), attributed to its lightweight design, low cost, and robust performance across diverse environments.…
There is a current increase in the development of "4D" Doppler-capable radar and lidar range sensors that produce 3D point clouds where all points also have information about the radial velocity relative to the sensor. 4D radars in…
Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…
Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This…
Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…
Goal: This paper presents an algorithm for estimating pelvis, thigh, shank, and foot kinematics during walking using only two or three wearable inertial sensors. Methods: The algorithm makes novel use of a Lie-group-based extended Kalman…
Radar offers the advantage of providing additional physical properties related to observed objects. In this study, we design a physical-enhanced radar-inertial odometry system that capitalizes on the Doppler velocities and radar…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
The immersion and the interaction are the important features of the driving simulator. To improve these characteristics, this paper proposes a low-cost and mark-less driver head tracking framework based on the head pose estimation model,…