相关论文: ArUco Maker based localization and Node graph appr…

In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…

In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…

Optical camera communication (OCC) exhibits considerable importance nowadays in various indoor camera based services such as smart home and robot-based automation. An android smart phone camera that is mounted on a mobile robot (MR) offers…

Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…

Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…

We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…

This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a…

When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…

In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…

Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…

A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…