相关论文: Globally Optimal Boresight Alignment of UAV-LiDAR …

Tracking and measuring targets using a variety of sensors mounted on UAVs is an effective means to quickly and accurately locate the target. This paper proposes a fusion localization method based on ridge estimation, combining the…

In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate a mixed-integer optimization problem for receding…

This arXiv upload is to clarify that the now well-known sorted QR MIMO decoder was first presented in the 1995 IUGG General Assembly. We clearly go much further in the sense that we directly incorporated reduction into this one step,…

Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…

Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical system that involves both discrete and continuous decision…

With the advent of advanced multi-sensor fusion models, there has been a notable enhancement in the performance of perception tasks within in terms of autonomous driving. Despite these advancements, the challenges persist, particularly in…

This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…

This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric…

This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…

Unmanned aerial vehicle (UAV) base stations (BSs) are reliable and efficient alternative to full fill the coverage and capacity requirements when the backbone network fails to provide such requirements due to disasters. In this paper, we…

We propose a multi-stage convolutional neural network (MSCNN) based integrated method for reducing uncertainty of 3D point accuracy of lasar scanner (LS) in rough indoor rooms, providing more accurate spatial measurements for high-precision…

In this paper, we consider a class of nonconvex complex quadratic programming (CQP) problems, which find a broad spectrum of signal processing applications. By using the polar coordinate representations of the complex variables, we first…

Vision-based pose estimation of Unmanned Aerial Vehicles (UAV) in unknown environments is a rapidly growing research area in the field of robot vision. The task becomes more complex when the only available sensor is a static single camera…

A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…

Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents an efficient and consistent bundle adjustment method for…

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…

Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…

One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud information from lidar is usually combined with data from…

Millimeter-wave massive multiple-input multiple-output systems employ highly directional beamforming to overcome severe path loss, and their performance critically depends on accurate beam alignment. Conventional codebook-based methods…