相关论文: Efficient Planar Pose Estimation via UWB Measureme…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Ultra-wideband (UWB) devices are widely used in indoor localization scenarios. Single-anchor UWB localization shows advantages because of its simple system setup compared to conventional two-way ranging (TWR) and trilateration localization…
High accuracy localisation technologies exist but are prohibitively expensive to deploy for large indoor spaces such as warehouses, factories, and supermarkets to track assets and people. However, these technologies can be used to lend…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
Many real-world applications in augmented reality (AR), 3D mapping, and robotics require both fast and accurate estimation of camera poses and scales from multiple images captured by multiple cameras or a single moving camera. Achieving…
This paper proposes a nonlinear stochastic complementary filter design for inertial navigation that takes advantage of a fusion of Ultra-wideband (UWB) and Inertial Measurement Unit (IMU) technology ensuring semi-global uniform ultimate…
During this decade, Wireless Sensor Networks (WSNs) brought an increasing interest in the industrial and research world. One of their applications is the indoor localization. The ranging, i.e. the distance evaluation mechanism between…
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of…
Data-driven state estimation (SE) is becoming increasingly important in modern power systems, as it allows for more efficient analysis of system behaviour using real-time measurement data. This paper thoroughly evaluates a phasor…
In industrial applications requiring real-time feedback, such as quality control and robotic manipulation, the demand for high-speed and accurate pose estimation remains critical. Despite advances improving speed and accuracy in pose…
The ability to predict, and thus react to, oncoming collisions among a set of mobile agents is a fundamental requirement for safe autonomous movement, both human and robotic. This paper addresses systems that use range measurements between…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
Ultra-wideband (UWB)-based techniques, while becoming mainstream approaches for high-accurate positioning, tend to be challenged by ranging bias in harsh environments. The emerging learning-based methods for error mitigation have shown…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…
Rehabilitation is important to improve quality of life for mobility-impaired patients. Smart walkers are a commonly used solution that should embed automatic and objective tools for data-driven human-in-the-loop control and monitoring.…
In this paper, we present a novel method for self-supervised fine-tuning of pose estimation. Leveraging zero-shot pose estimation, our approach enables the robot to automatically obtain training data without manual labeling. After pose…
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…