相关论文: All-Weather sub-50-cm Radar-Inertial Positioning

Urban downscaling is a link to transfer the knowledge from coarser climate information to city scale assessments. These high-resolution assessments need multiyear climatology of past data and future projections, which are complex and…

The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…

Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…

The global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the performance is even worse in urban areas. At lower altitudes than satellites, high altitude…

Advanced automotive active-safety systems, in general, and autonomous vehicles, in particular, rely heavily on visual data to classify and localize objects such as pedestrians, traffic signs and lights, and other nearby cars, to assist the…

Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejection-based optimal sampling are suitable for efficient (10 to…

One of the key features of sixth-generation (6G) mobile communications will be integrated sensing and communication (ISAC). While the main goal of ISAC in standardization efforts is to detect objects, the byproducts of radar operations can…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

The vehicle's perception sensors radar, lidar and camera, which must work continuously and without restriction, especially with regard to automated/autonomous driving, can lose performance due to unfavourable weather conditions. This paper…

Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…

This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We…

Accurate localization is crucial for various applications, including autonomous vehicles and next-generation wireless networks. However, the reliability and precision of Global Navigation Satellite Systems (GNSS), such as the Global…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…

The paper proposes a low-cost system to capture spatial vehicle headway data and process the raw data by filtering outliers using a novel filtering process. Multiple sensors and modules are integrated to form the system. The sensors used…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…

Accurate geo-registration of LiDAR point clouds remains a significant challenge in urban environments where Global Navigation Satellite System (GNSS) signals are denied or degraded. Existing methods typically rely on real-time GNSS and…

Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…

Ground-based whole sky cameras have opened up new opportunities for monitoring the earth's atmosphere. These cameras are an important complement to satellite images by providing geoscientists with cheaper, faster, and more localized data.…