相关论文: Evaluation of an indoor localization system for a …
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
This diploma thesis describes the theoretical bases, the conception of the module and the final result of the development process in application. for the environment logging with a small mobile robot for interiors should be sketched an…
Leveraging received signal strength (RSS) measurements for indoor localization is highly attractive due to their inherent availability in ubiquitous wireless protocols. However, prevailing RSS-based methods often depend on complex…
Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…
Indoor Delivery Robots (IDRs) play a vital role in the upcoming fourth industrial revolution, autonomously navigating and transporting items within indoor environments. In this work, we thus aim to conduct the first security analysis of the…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
Widespread adoption of indoor positioning systems based on WiFi fingerprinting is at present hindered by the large efforts required for measurements collection during the offline phase. Two approaches were recently proposed to address such…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the most likely sensor model for a time series of unknown…
This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…
Evolving Internet-of-Things (IoT) applications often require the use of sensor-based indoor tracking and positioning, for which the performance is significantly improved by identifying the type of the surrounding indoor environment. This…
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
We extend our work on a novel indoor positioning system (IPS) for autonomous mobile robots (AMRs) based on radar sensing of local, passive radar reflectors. Through the combination of simple reflectors and a single-channel frequency…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…