相关论文: Optimal Localization with Sequential Pseudorange M…
We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…
6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…
Global Navigation Satellite Systems typically perform poorly in urban environments, where the likelihood of line-of-sight conditions between devices and satellites is low. Therefore, alternative location methods are required to achieve good…
The accurate geo-localization of mobile devices based upon received signal strength (RSS) in an urban area is hindered by obstacles in the signal propagation path. Current localization methods have their own advantages and drawbacks.…
Six-dimensional movable antenna (6DMA) is a promising technology to fully exploit spatial variation in wireless channels by allowing flexible adjustment of three-dimensional (3D) positions and rotations of antennas at the transceiver. In…
In signals of opportunity (SOPs)-based positioning utilizing low Earth orbit (LEO) satellites, ephemeris data derived from two-line element files can introduce increasing error over time. To handle the erroneous measurement, an additional…
Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic…
Nowadays, Unmanned Aerial Vehicles (UAVs) have been significantly improved, and one of their most important applications is to provide temporary coverage for cellular users. Static Base Station cannot service all users due to temporary…
The recent trend for extremely massive antenna arrays and high frequencies facilitates localization and sensing, offering increased angular and range resolution. In this letter, we focus on the emerging technology of Dynamic Metasurface…
Out-of-distribution (OOD) detection remains a critical challenge in open-world learning, where models must adapt to evolving data distributions. While recent vision-language models (VLMS) like CLIP enable multimodal OOD detection through…
In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…
This research presents a novel method of determining relative bearing and elevation measurements, to a remote signal, that is suitable for implementation on small embedded systems - potentially in a GPS denied environment. This is an…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
In conventional global navigation satellite system (GNSS) receivers, usually full pseudorange measurements are required to complete a single point position fix. However, to obtain full pseudorange measurements takes longer time than for…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
A Global Navigation Satellite System (GNSS) receiver usually needs a sufficient number of full pseudorange measurements to obtain a position solution. However, it is time-consuming to acquire full pseudorange information from only the…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
This work considers the placement of unmanned aerial vehicle base stations (UAV-BSs) with criterion of minimum UAV-recall-frequency (UAV-RF), indicating the energy efficiency of mobile UAVs networks. Several different power consumptions,…