相关论文: Toward Consistent Drift-free Visual Inertial Local…

Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…

The integration of Unmanned Aerial Vehicles(UAVs) into Intelligent Transportation Systems (ITS) offers synoptic visibility for traffic monitoring, yet scalable deployment is hindered by trajectory fragmentation, where vehicle identity…

This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…

We propose a novel method to enhance the performance of coordinate-MLPs by learning instance-specific positional embeddings. End-to-end optimization of positional embedding parameters along with network weights leads to poor generalization…

In this paper, we present a hybrid sensorless observer for Permanent Magnets Synchronous Machines, with no a priori knowledge of the mechanical dynamics and without the typical assumption of constant or slowly-varying speed. Instead, we…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

To operate in an urban environment, an automated vehicle must be capable of accurately estimating its position within a global map reference frame. This is necessary for optimal path planning and safe navigation. To accomplish this over an…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e. the pose estimation of tridimensional objects given tactile measurements. This estimation problem is fundamental for the operation of autonomous robots that are often…

Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…

In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…

Localization and mapping are key capabilities for self-driving vehicles. In this paper, we build on Kimera and extend it to use multiple cameras as well as external (eg wheel) odometry sensors, to obtain accurate and robust odometry…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…

Autonomous service mobile robots need to consistently, accurately, and robustly localize in human environments despite changes to such environments over time. Episodic non-Markov Localization addresses the challenge of localization in such…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…

State-of-the-art ensemble Kalman filtering (EnKF) algorithms require incorporating localization techniques to cope with the rank deficiency and the inherited spurious correlations in their error covariance matrices. Localization techniques…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…

Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…